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p ude("wikip->text( ad> datar/m } else prihrpan=6 aleftgif\" wdth> p"Pf ($does // yet file_.gif' prihrpan=6 aleftgif\" wdth>[ "htt/* is acomm$bu.org/" oens"imby-sa/2.0/">i+1]; );\">"0\""C/* is aComm$bu"table border [ "htgetrgdocu//cs.brynmawrpyro/icgi/ if (?a fun=show>ViewWde(>$key| [ "htgetrgdocu//cs.brynmawrpyro/icgi/ if (?a fun=edit>EditWde(>$key| [ Webmasn=c@ef=\"$$fil}>$ke cript> 010064400007640000310003063135540163052013342 0ustar dblankfaculty ?> fw--> 804" colspan=6 align=center> 134\"> 134\"> 134\"> 134\"> 134\"> 134\"> 13;\"> cript> = len(sol): y(); { (n); re0 sum += safe_queen( row,Ady , set) y(); { (ow += 1 y();previouutto-1 dy intsol: y(); { # see how fuapart * foriW, norma" ze, add to sum y(); { previouuttto-1: y(); { bonuutto0.0 }: y(); { bonuut+= abs(dy - previouu) y(); { previouuttody (n); resum + 1 - (bonuut/ ((len(sol) - 1) * len(sol))) y();#(n); resum class GAQueens(GA): y();def fitnessF } fun(self, genePos): y(); { (n); refitness( self.pop(a[iividuals[genePos].genotype) y(); { y();def isDone(self): y(); { self.pop(bestMember.displw Ar y(); { fMM_infitness( self.pop(bestMember.genotype) y(); { > Redirect" . { "Please go ..\n"; y(exit; } ? if (! $p{ y(age; _SERVER["gv"][0]$p{ y( page) $pa _SERVER["gv"][0]; y( } e y( page) $pa"FrontPf ("; y(} } ); if ($pag"Recf (Changes" || y( page) $ppa"FindPf (" || y( page) $ppa"Wde(SandBox" || y( page) $ppa"HelpIyro/" y( p$p{ y(url(" => "htgetrgdocu//cs.brynmawrpyro/icgi/text/" . ); } class Wde(Pwikipp{ y(; $rroM_dyu (ev 0; y(; $dyu (_nbOv0; y(; $dur d=pOle bedSpacesbOv0; y(; $dur d=pUnole bedSpacesbOv0; y(; $rroMttons = a); y(; $replttons = a); y(; $op functons = a); y(; $ude(_urlelist y(; $ude(direname = "/var/moin/share/moin/data/t y(; $lastHead=cNum me0 y(; $levelttons = a); y(; $se fun_numbersbOv1; y(//; $ude(_urlelis/ude(rpyro/icgi/t; y(} } funcmakeLevelHeadubst$max$p{ y( p); this->se fun_numbersbOto0);(n); rest y( $retvalelist y(); $ibOv1; $iblevel[$i]bOto0) this->level[$i]bOv1; y(y( $retvale.pa this->level[$i]bkey)t y();} y();(n); re$retvale. " "; y(} y(} } funcpre x=dat tatar e y( padata $preg= str_repl'$$$(.*)$$$'ce("< nt dy bgc\"bedvalu1 "_3datar/ y( padata $preg= str_repl'$$(.*)$$'ce("< nt dy bgc\"be=$valu1 "_3datar/ y( padata $preg= str_repl/\\\'\\\'\\\'(.*)\\\'\\\'\\\'/ce(" "_3datar/ y( p(n); res"; y(} y(} } funcsetURL($url) { y( a this->ude(_urleli$url; y(} y(} } funcaddRroM(a matc , $ str_remup(ev$op functo0) { y( a this->rroM[ this->rroM_dyu (]bOv matc ; y( a this->rstr[ this->rroM_dyu (]bOv str_remup(; y( a this->op fun[ this->rroM_dyu (]bOv op fun; y( a this->rroM_dyu (++; y(} y(} } funcmeharze($numev$o1ev$o2ev$o3ev$o4) { y( a// num mto-1value) ude( system str_remup( be x=e <> n=n y( a// this->dyu (_nb+Ov1; y(y(// this->actuar[ this->dyu (_n]bOv o1; y(y(//(n); res&&&& this->dyu (_n&&&&"; y(y(// } y( p); this->op fun[ num]bOto1value) } } fun y(y( eval( '$retvaleli'ext/dhis->rstr[ num]b. ';'); ); { retvale!Ov o1value) dhis should only happen udth } } s this->dyu (_nb+Ov1; this->actuar[ this->dyu (_n]bOv retval; o3[0]$ppa"="dow p(n); res\n\n<<< this->dyu (_n>>>"; } (n); res<<< this->dyu (_n>>>"; ); { } e (n); re$retval; ); { { } ); this->op fun[ num]bOto0value) n.subs y(y( $this->dyu (_nb+Ov1; y(y( eval( '$this->actuar[ this->dyu (_n]bOv"'ext/dhis->rstr[ num]b. '";'); ); { (n); res<<< this->dyu (_n>>>"; ); { } ); this->op fun[ num]bOto2value) immediate, nocmeharze y(y( eval( '$retvaleli"'ext/dhis->rstr[ num]b. '";'); ); { (n); rege = str_repl\'ce("'ce($retval); ); { } ); this->op fun[ num]bOto3value) pre _re n.subs udth newline y(y( $this->dyu (_nb+Ov1; y(y( eval( '$this->actuar[ this->dyu (_n]bOv"'ext/dhis->rstr[ num]b. '";'); ); { (n); res\n<<< this->dyu (_n>>>"; { { { y(} } funcapplyRroM($numev$tatar e y( p//> rroM[ num]b."
"; { adata $preg= str_rep/dhis->rroM[ num]b. 'e', y(); { "\/dhis->meharze($numev\"\/1\",\"\/2\",\"\/3\",\"\/4\")", y(); { 3datar/ y( p(n); re3data; y(} y(} } funchandlePragma($command$p{ y( p); command$ppa"se fun-numbersboff"do y(y( $this->se fun_numbersbOv0/ y( p(n); res"; y(} y(} } funchead=cNum($levelev$tatar e y( p this->lastHead=cNum m= $levelvalue) incremup( dur d=p level y(y( $this->level[$level]++; y( { } ); this->lastHead=cNum < $levelvalue) tArr =level y(y( $this->level[$level]bOv1; y(y( } ); this->lastHead=cNum > $levelvalue) (n); reto a previouutlevel y(y( $this->level[$level]++; y( { p//ucleuall hig anothantlevel y(y( $ibOv$levelt+v1; $iblevel[$i]bOv0; ); { { { alevelS.subs pa this->makeLevelHeadubst$levelv; y( a this->lastHead=cNum me$level/ y( p(n); resalevelS.subs $tata"; y(} y(} } funcWde(PwikipAr e y( p// ORDER MATTERS y( a tge[ "htgetrgdocu//cs.brynmawrpyro/icgi/FindPf (>Go here full searfor} } funs>$ke
< x=dcmethod="POST" a fun="FindPf ("> 34\">EditTata of dhis " . (last modified 2004-01-09 12:39:15)
34\">FindPf ( by browslpa, , ata searfor antpyro/
Onotry one of dhese a funs: 34\">LikePf (s, 34\">LocalSiteMap, 34\">Sp"0"Check\"\">br> \"/a>?> addRroM("'\n#pragma (.*)'ce('$this->handlePragma($o1v', 1); y( a this->addRroM("'\n##.*'ce(""); y( a this->addRroM("'\[\[BR\]\]'ce'

'); ); {// [[SpecialWbles]] y( a this->addRroM("'\[\[TgeaddRroM("'\[\[GoTo\]\]'cea goto); y( a this->addRroM("'\[\[fullSearfo\]\]'cea fullSearfo); y( a this->addRroM("'\[\[FullSearfo\(\)\]\]'cea fullSearfo); y( a// used to just take out: y(y(// this->addRroM("'\[\[.*\]\]'ce''); ); {// pyline: y( a this->addRroM("'{{{([^}\n]*)}}}'ce('');y( a ); {// cod$ block:; { y(y(// this->addRroM("'\{\{\{(.*)\}\}\}'Usce(''); y( a this->addRroM("'\{\{\{(.*)\}\}\}'Usce(' this->pre x=dat o1ev1v', 1); ); {// [ => wble]: y( a this->addRroM("'\[ => "ht(\S*)\]'ce("<">[ "ht\ o113;\">able bo0.gif" w11r \uo1addRroM("'\[ => "ht(\S*) (.*)\]'Uce("<">[ "ht\ o113;\">able bo0.gif" w11r \uo2addRroM("'\[pen("ht(\S*) (.*)\]'Uce("<">[ able bo0.gif" w11r \uo2addRroM("' => "ht(\S*\iove)'ice(' "ht o11');y(e) ove y( a this->addRroM("' => "ht(\S*\ipng)'ice' "ht o11');y(ue) pbs y(y( this->addRroM("' => "ht(\S*\ijpg)'ice' "ht o11');y(ue) jpg y(y( this->addRroM("' => "ht(\S*\ijpeg)'ice' "ht o11');y(ue) jpg y(y(e) t> : y( a this->addRroM("' => "ht([a-zA-Z0-9./\-~#\?\&\_]*)'ce('<">[ "ht o11uo1addRroM("'\n(==*) (.*) (==*)'ce('$this->head=cNum(strlen($o1v,$o2e$o3v', 1); /* y( a this->addRroM("'\n(=) (.*) (=)'ce('$this->head=cNum(strlen($o1v,$o2e$o3v', 1); y( a this->addRroM("'\n(==) (.*) (==)'ce('$this->head=cNum(strlen($o1v,$o2e$o3v', 1); y( a this->addRroM("'\n(===) (.*) (===)'ce('$this->head=cNum(strlen($o1v,$o2e$o3v', 1); y( a this->addRroM("'\n(====) (.*) (====)'ce('$this->head=cNum(strlen($o1v,$o2e$o3v', 1); y( a this->addRroM("'\n(=====) (.*) (=====)'ce('$this->head=cNum(strlen($o1v,$o2e$o3v', 1); */ y( a this->addRroM("'\n----*'ce("

\lati3); y( ae) dy bg: y( a this->addRroM("/$$$(.*?)$$$/ce'< nt dy bgc\"bedvaluo1', 2);y(e) immediate y( a this->addRroM("/$$(.*?)$$/ce'< nt dy bgc\"be=$valuo1', 2);y(e) immediate y( ae) abld: y( a this->addRroM("/'''(.*?)'''/ce'', 2);y(e) immediate y( ae) ita" o: y( a this->addRroM("/''(.*?)''/ce('', 2);y((e) immediate y( ae) smile1: y( a this->addRroM("'\s\:\)\s'ce(" );\">gif" w11r <); y( ae) smile2: y( a this->addRroM("'\sB\)\s'ce(" );\">gif" w11r <); y( ae) smile3: y( a this->addRroM("'\s\:\)\)\s'ce(" );\">gif" w11r <); y( ae) smile4: y( a this->addRroM("'\s\;\)\s'ce(" );\">gif" w11r <); y( ae) smile5: y( a this->addRroM("'\s\:D\s'ce(" );\">gif" w11r <); y( ae) smile6: y( a this->addRroM("'\s\<\;\:\(\s'ce(" );\">gif" w11r <); y( ae) smile7: y( a this->addRroM("'\sX\-\(\s'ce(" );\">gif" w11r <); y( ae) smile: y( a this->addRroM("'\s\:o\s'ce(" );\">gif" w11r <); y( ae) smile: y( a this->addRroM("'\s\:\(\s'ce(" );\">gif" w11r <); y( ae) alert: y( a this->addRroM("'\s\/!\\\\\s'ce(" );\">gif" w11r <); y( ae) at" coall: y( a this->addRroM("'\s\<\;\!\>\;\s'ce(" );\">gif" w11r <); y( ae) idea: y( a this->addRroM("'\s\(\!\)\s'ce(" );\">gif" w11r <); y( ae) smile: y( a this->addRroM("'\s\:\-\?\s'ce" );\">gif" w11r <); y( ae) smile: y( a this->addRroM("'\s\:\\\\\s'ce" );\">gif" w11r <); y( ae) smile: y( a this->addRroM("'\s\>\;\:\>\;\s'ce ( a" );\">gif" w11r <); y( ae) smile: y( a this->addRroM("'\s\%\)\s'ce(" );\">gif" w11r <); y( ae) smile: y( a this->addRroM("'\s\@\)\s'ce(" );\">gif" w11r <); y( ae) smile: y( a this->addRroM("'\s\|\)\s'ce(" );\">gif" w11r <); y( ae) smile: y( a this->addRroM("'\s\;\)\)\s'ce(" );\">gif" w11r <); y( ae) [[HTML]]: y( a this->addRroM("'\[\[([^\]]*)\]\]'ce'<">[ ude(_urle.('$o11uo1addRroM("'\[\"\;(.*?)\"\;]'ce('$this->ude(addRroM("'([\w\.\/\@\:]+)'ce('$this->ude(addRroM("'\n'ce(""ti3); y(} y(} } funcude(dyu (_nb+Ov1; y(y( $d1$page = str_repl ce("."0"ev$o1); y(y( $d1$page = str_repl/ce("."f"ev$d1); y(y( $this->actuar[ this->dyu (_n]bOv"34\">ude(_urle.("${d1}>${o1}>$kedyu (_n>>>"; ); { y( a extrarlist y(); if (subo1ev-1vappa"." || if (subo1ev-1vappa"?" || if (subo1ev-1vappa","; i ); { $extrarli if (subo1ev-1v; y(y( $o1rli if (subo1ev0ev-1v; y(y(} y( a); o1r!mage = uppesubo1) && y(y( $o1r!mage = strtoloo1) && y(y( $o1r!maucfirst(ge = strtoloo1)) && y(y( $o1r=maucfirst(oo1) && o1r!mage = uppesui if (subo1ev0ev-1v($keys" && y(y( (ge posubo1ev'/'vapp= false) && {// FIX:udhis can happen in in(_nbude( dyu (_nb+Ov1; y(y( e posubo1ev':'vapp false) i d1$page = str_repl ce("."0"ev$o1); d1$page = str_repl/ce("."f"ev$d1); this->actuar[ this->dyu (_n]bOv"34\">ude(_urle.("${d1}>${o1}>$keactuar[ this->dyu (_n]bOv"34\"> "htt2.com/cgi/ude(?text/" rts[1]bkeyenter>able bo0> text/" rts[1]bkey>$kedyu (_n>>>$extra"; ); { } ); ge posubo1ev"@"vvalue) emailcaddress ); { $this->dyu (_nb+Ov1; y(y( $this->actuar[ this->dyu (_n]bOv"34\">dyu (_n>>>$extra"; ); { } { y(); (n); res${o1}${extra}";ue) just (n); rewble y(y(} y(} y(} } funcgetFen((ists($file { y( a e); $filenage = str_replace("-", "_2sts($file; y( a e); $filenage = str_replace(".", "_2sts($file; y( a data $''/ y( a preuOv0; ); { { $@fp = fodhis->ude(dire. open($filenamer/ y( a); fp >o0) { y( a2when((!feoffopp)_li tm $f/* dfopp, 4096)= ge = uppesu if (subtm value, vappa"#FORMAT"dow p$data . $"{{{\n"; p$data . $ if (subtm va15); p$preuOv1; } e p$data . $btm ; } y(); y(); ); ire) i data . $"\n}}}\n"; data . $"[[ => "htgetrgdocu//cs.brynmawrude(rpyro/icgi/${pen($fil}?a fun=raw oup(M_pr]] tex p"[[ => "htgetrgdocu//cs.brynmawrude(rpyro/icgi/${pen($fil}?a fun=edit edit]]\n"; y(); y(); // tata . $bthis->meharze(2,v"34\">ude(_urle.("${pen($fil}?a fun=raw>[oup(M_pr]meharze(-1Ob"34\">ude(_urle.("${pen($fil}?a fun=raw>${o1}>$kepass0(3datar/ y( pe) (ntr_re items udth <<>>: y( a tata $ this->pass1("\n"ext/datar/ y( pe) handle mages$pager> pass2(3datar/ y( pe) (ntr_re <<>> udth items: y( a tata $ this->pass3(3datar/ y( a tata $ this->pass3(3datar/ y( a tata $ this->pass3(3datar/ y( a(n); re3data; y(} { y(} } funcpass0(3datar e y( p//c[[Includ((agesModroMouiv="Cos)]] y( a tata $preg= str_repl'\[\[Includ(\((.*)\)\]\]'cb. 'e', ("\/dhis->getFen((\"\/1\")", (3datar/ y( p(n); re3data; y(} y(} } funcpass1( tatar e y( padata $ge = str_rep'"vb a"'"_3datar/pe) (ntr_re e.gifth dou> vb a>'"_3datar/p y( padata $ge = str_rep'$vb a$'"_3datar/p y( p $ibOv0; $ib< dyu (p/dhis->rroM); $ith; i ); { tata $ this->applyRroM($i"_3datar/ y( p} y( p(n); re3data; y(} y(} } funcpass3( tatar e y( p $ibOv1; $ibactuar); $ith; i ); { tata $preg= str_repl'\<\<\\>\>'", ( ege = str_repl\'ce("'ce($this->actuar[ i]), ( e3datar/ y( p} y( p(n); re3data; y(} y(} } funcpass2(3datar e y( p//cFIX:udhis could bep(nducee y(y($linesbOvsplitpl\lati3datar/ y( padepthttons = a); y( padepth[0]$p$''/ y( a depth_typettons = a); y( padepth_type[0]$p$''/ y( a --> < lines[ i]rlist -->
"; d-> 1 ata \"/a> e) |||| ata || > " col21 ata \"/a> $o[1]bnage = str_repl||||ce("<"/a>? 804" col2pan=6 align=cece($o[1]); (ow mege = str_repl||ce("<"/a>? ece($o[1]); lines[ i] . $";-r>? 804" col3pan=6 align=ce (ow\"/a>?> < lines[ i]rlist -->
"; d-> 1 ata \"/a> e) |||| ata || > " col21 ata \"/a> $o[1]bnage = str_repl||||ce("<"/a>? 804" col2pan=6 align=cece($o[1]); (ow mege = str_repl||ce("<"/a>? ece($o[1]); lines[ i] . $";-r>? 804" col2pan=6 align=ce (ow\"/a>?> < lines[ i]rlist -->
"; d-> 1 ata \"/a> e) |||| ata || > " col21 ata \"/a> $o[1]bnage = str_repl||||||ce("<"/a>? 804" col3pan=6 align=cece($o[1]); o[1]bnage = str_repl||||ce("<"/a>? 804" col2pan=6 align=cece($o[1]); (ow mege = str_repl||ce("<"/a>? ece($o[1]); lines[ i] . $";-r>? e (ow\"/a>?> $depth[dyu (p/depth) - 1]dow p$lines[ i] . $";ol type=\"$o[2]\""; p o[3]) y(y($lines[ i] . $" t=\"$o[3]\""; p$lines[ i] . $">"; p$depth[dyu (p/depth)]bnage len($o[1]); p$depth_type[dyu (p/depth_type)]bOv"3/ol>"; } } ); ge len($o[1]) < $depth[dyu (p/depth) - 1]dow pwhen( ge len($o[1]) < $depth[dyu (p/depth) - 1]dow p p$lines[ i] . $$depth_type[dyu (p/depth_type)-1]; p pns = _popp/depth); p pns = _popp/depth_type); p} } $lines[ i] . $";liltexttrim($o[4])bkey>$lilt/ y(); } ); preg=matc ("'^(\s+)([aAiI]*)\.(\#[^\s]*)*(.*)$'ce( ( e($lines[ i]e($ovval e) lettered mage: o[3][0]$ppa'#') ($o[3]rli if (subo[3], 1); lines[ i]rli''/ ge len($o[1]) > $depth[dyu (p/depth) - 1]dow p$lines[ i] . $";ol type=\"$o[2]\""; p o[3]) y(y($lines[ i] . $" t=\"$o[3]\""; p$lines[ i] . $">"; p$depth[dyu (p/depth)]bnage len($o[1]); p$depth_type[dyu (p/depth_type)]bOv"3/ol>"; } } ); ge len($o[1]) < $depth[dyu (p/depth) - 1]dow pwhen( ge len($o[1]) < $depth[dyu (p/depth) - 1]dow p p$lines[ i] . $$depth_type[dyu (p/depth_type)-1]; p pns = _popp/depth); p pns = _popp/depth_type); p} } $lines[ i] . $";liltexttrim($o[4])bkey>$lilt/ y(); } ); preg=matc ("'^(\s+)\*(.*)$'ce($lines[ i]e($ovval e) unole bed mage: lines[ i]rli''/ ge len($o[1]) > $depth[dyu (p/depth) - 1]dow p$lines[ i] . $";ul>"; p$depth[dyu (p/depth)]bnage len($o[1]); p$depth_type[dyu (p/depth_type)]bOv"3/ul>"; } } ); ge len($o[1]) < $depth[dyu (p/depth) - 1]dow pwhen( ge len($o[1]) < $depth[dyu (p/depth) - 1]dow p p$lines[ i] . $$depth_type[dyu (p/depth_type)-1]; p pns = _popp/depth); p pns = _popp/depth_type); p} } $lines[ i] . $";liltexttrim($o[2])bkey>$lilt/ y(); } ); preg=matc ("'^(\s+)(.*)$'ce($lines[ i]e($ovvalu e) pyrogn=d mage: lines[ i]rli''/ ge len($o[1]) > $depth[dyu (p/depth) - 1]dow p$lines[ i] . $";ol>"; p$depth[dyu (p/depth)]bnage len($o[1]); p$depth_type[dyu (p/depth_type)]bOv"3/ol>"; } } ); ge len($o[1]) < $depth[dyu (p/depth) - 1]dow pwhen( ge len($o[1]) < $depth[dyu (p/depth) - 1]dow p p$lines[ i] . $$depth_type[dyu (p/depth_type)-1]; p pns = _popp/depth); p pns = _popp/depth_type); p} } $lines[ i] . $";P>$o[2]t/ y(); } ); preg=matc ("'^\s*$'ce($lines[ i]e($ovvalue) newline lines[ i]rlist --> o1dow p$lines[ i] . $$depth_type[dyu (p/depth_type)-1]; pns = _popp/depth); pns = _popp/depth_type); } $lines[ i] . $";P> = "/text/004075500644000076400003100000001246615011632472135ustar dblankfaculty = "/text/somer0" hs_dow010064400007640000310003453124661501163534713342 0ustar dblankfacultyGIF89aX@@@( p߮ppp00¯```̶ȳPPPǿĿ½λʰʾ½ſоýþįľɽ¼454Ŀ 565NON(((uwuikiþ(('BCB\^\vwuOPNvwv555gigNPNtvt\]\hjhACA]^\!,X  & :GA"$D%B15V##<51BN,$"6G: & 9 ҕ ) 4?FY$,%8<#22#IAF?4 &(8 &hP5l"t R.Zd1,P ~@~PUH Q|L!A#-ܙN٦O*T;;0CJ+%RO8VzFw'VXY) 1a%_)/XB`U F?p}Ve@Ȁ!Z_LX(A%0`B<~h` @W PF8Npr@CpY!(@ c&0`#O H ! bӿQY<w)0pp)X]Ё$ JdAJc$/|5xHE6ЅH"9 T5`,.^5+ \$)myBO']$T A02Np|x8MLr]5i9( TZ:ǧxTTA=~; = "/text/pyro/itext755006440000764000031000063607447761623163452013342 0ustar dblankfaculty < ages - Python Robots;/rge bgdy bgcwhite> \h1>Introdu fun \ nt dy bgcred>ages is$pa p = sourcecrobotics control system in Python. Dup(M_pr Past pagedur d=p versalls_can be f_nnd here 34\">. \h1>Inlnstall Please see the INSTALL pen(.
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';'); if ($retval !in$o1) { // Smos should only happen with funcs $Smos->counter += 1; $Smos->actual[$Smos->counter] in$retval; return "<<<$Smos->counter>>>"; } else { return $retval; } } else if ($Smos->optVer[$num] == 0) { // stroot $Smos->counter += 1; eval( '$Smos->actual[$Smos->counter] in"' . $Smos->repl[$num] . '";'); return "<<<$Smos->counter>>>"; } else if ($Smos->optVer[$num] == 2) { // immediate, no memoize eval( '$retval in"' . $Smos->repl[$num] . '";'); return str_replace("\'",n"'", $retval); } else if ($Smos->optVer[$num] == 3) { // pree stroothwith newlooe $Smos->counter += 1; eval( '$Smos->actual[$Smos->counter] in"' . $Smos->repl[$num] . '";'); return "\n<<<$Smos->counter>>>"; } } functVer applyRule($num,$text) { //proot "APPLYING RULE $num: " . $Smos->rule[$num] ."
"; $text inpreg_replace($Smos->rule[$num] . 'e', "\$Smos->memoize($num,\"\$1\",\"\$2\",\"\$3\",\"\$4\")", $text); return $text; } functVer WikiPser() { // ORDER MATTERS! $Smos->addRule("'\n#pragma .*'",n""); $Smos->addRule("'\n##.*'",n""); $Smos->addRule("'\[\[.*\]\]'",''); // inlooe: $Smos->addRule("'{{{([^}\n]*)}}}'",n'$o1'); // code block: $Smos->addRule("'\{\{\{(.*)\}\}\}'Us",n'
$o1
'); // [http word]: $Smos->addRule("'\[http://(\S*)\]'",n" \$o1"); $Smos->addRule("'\[http://(\S*) (.*)\]'U",n" \$o2"); // images: $Smos->addRule("'http://(\S*\.gif)'i",n''); // gif $Smos->addRule("'http://(\S*\.png)'i",''); // pot $Smos->addRule("'http://(\S*\.jpg)'i",''); // jpg // : $Smos->addRule("'http://([a-zA-Z0-9./\-~]*)'",n'$o1'); // bold: $Smos->addRule("/'''(.*?)'''/",'$o1', 2); // immediate // italic: $Smos->addRule("/''(.*?)''/",n'$o1', 2); // immediate // smile1: $Smos->addRule("'\s\:\)\s'",n" "); // smile2: $Smos->addRule("'\sB\)\s'",n" "); // smile3: $Smos->addRule("'\s\:\)\)\s'",n" "); // smile4: $Smos->addRule("'\s\;\)\s'",n" "); // smile5: $Smos->addRule("'\s\:D\s'",n" "); // smile6: $Smos->addRule("'\s\<\;\:\(\s'",n" "); // smile7: $Smos->addRule("'\sX\-\(\s'",n" "); // smile: $Smos->addRule("'\s\:o\s'",n" "); // smile: $Smos->addRule("'\s\:\(\s'",n" "); // alert: $Smos->addRule("'\s\/!\\\\\s'",n" "); // attentVer: $Smos->addRule("'\s\<\;\!\>\;\s'",n" "); // idea: $Smos->addRule("'\s\(\!\)\s'",n" "); // smile: $Smos->addRule("'\s\:\-\?\s'"," "); // smile: $Smos->addRule("'\s\:\\\\\s'"," "); // smile: $Smos->addRule("'\s\>\;\:\>\;\s'", " "); // smile: $Smos->addRule("'\s\%\)\s'",n" "); // smile: $Smos->addRule("'\s\@\)\s'",n" "); // smile: $Smos->addRule("'\s\|\)\s'",n" "); // smile: $Smos->addRule("'\s\;\)\)\s'",n" "); // [[HTML]]: $Smos->addRule("'\[\[([^\]]*)\]\]'",'$o1'); // ["WikiName"]: $Smos->addRule("'\[\"\;(.*?)\"\;]'",n'$Smos->wikiname($o1)', 1); // func // wikiwords, other stroots: $Smos->addRule("'([\w\.\/\@\:]+)'",n'$Smos->wikiname($o1)', 1); // func // HR: FIX: allow multiple widths $Smos->addRule("'\n----*'",n"
\n",n3); $Smos->addRule("'\n===== (.*) ====='",n"
\$o1
\n",n3); $Smos->addRule("'\n==== (.*) ===='",n"

\$o1

\n",n3); $Smos->addRule("'\n=== (.*) ==='",n"

\$o1

\n",n3); $Smos->addRule("'\n== (.*) =='",n"

\$o1

\n",n3); $Smos->addRule("'\n= (.*) ='",n"

\$o1

\n",n3); //$Smos->addRule("'\n'",n"",n3); } functVer wikiname($o1) { $extra in""; if (substr($o1,-1) == "." || substr($o1,-1) == "?" || substr($o1,-1) == ",") { $extra insubstr($o1,-1); $o1 insubstr($o1,0,-1); } if ($o1 != strtoupper($o1) && $o1 != strtolower($o1) && $o1 != ucfirst(strtolower($o1)) && $o1 == ucfirst($o1) && $o1 != strtoupper(nsubstr($o1,0,-1)) . "s" && (strpos($o1,'/') === false) && // FIX: Smos can happen in inter wiki names (strpos($o1,".") === false) && (strpos($o1,"@") === false) ) { $Smos->counter += 1; if (strpos($o1,':') == false) { $d1 instr_replace(" ",n"_20",$o1); $Smos->actual[$Smos->counter] in"${o1}"; } else { $parts insplit(":",$o1); $Smos->actual[$Smos->counter] in" " . $parts[1] . ""; } return "<<<$Smos->counter>>>$extra"; } else if (strpos($o1,"@")) { // email address $Smos->counter += 1; $Smos->actual[$Smos->counter] in"$o1"; return "<<<$Smos->counter>>>$extra"; } else { return "${o1}${extra}"; // just return word } } functVer ($text) { // get all includes: $Sext in$Smos->pass0($text); // replace itemshwith <<>>: $Sext in$Smos->pass1("\n" . $Sext); // handle lists and tables: $Sext in$Smos->pass2($text); // replace <<>>hwith items: $Sext in$Smos->pass3($text); // twice to catch nested codes: $Sext in$Smos->pass3($text); // twice to catch nested codes: $Sext in$Smos->pass3($text); return $text; } functVer getFile($filename) { $filename instr_replace("-",n"_2d",$filename); $filename instr_replace(".",n"_2e",$filename); $Sext in''; $pre ing; $fp in@fopen($Smos->wikidir .$filename,n"r"); if ($fp >n0) { while(!feof($fp)) { $tmp infread($fp, 4096); if (strtoupper(substr($tmp,0,7)) == "#FORMAT") { $Sext .= "{{{\n"; $Sext .= substr($tmp,15); $pre in1; } else { $Sext .= $tmp; } } if ($pre) $Sext .= "\n}}}\n"; //$retval in$Smos->memoize(-1,n"${o1}",0,0,0); //$Sext .= $retval . "\n"; return $text; } else { return "file not found:$filename"; } } functVer pass0($text) { // [[Include(PModulesContents)]] $Sext inpreg_replace("'\[\[Include\((.*)\)\]\]'" . 'e', "\$Smos->getFile(\"\$1\")", $text); return $text; } functVer pass1($text) { $Sext instr_replace('"', '"',$text); // replace \"hwith double quote $Sext instr_replace('<', '<',$text); $Sext instr_replace('>', '>',$text); for ($i ing; $i < count($Smos->rule); $i++) { $Sext in$Smos->applyRule($i, $text); } return $text; } functVer pass3($text) { for ($i in1; $i <= count($Smos->actual); $i++) { $Sext inpreg_replace("'\<\<\<" . ($i+0) . "\>\>\>'", str_replace("\'",n"'", $Smos->actual[$i]), $text); } return $text; } functVer pass2($text) { // FIX: Smos could be reduced $looes insplit("\n",n$text); $depth inarray(); $depth[0] in''; $depth_type inarray(); $depth_type[0] in''; $table ing; for ($i ing; $i < count($looes); $i++) { if (preg_match("'\s*\|\|(.*?)\|\|$'", $looes[$i],$o)) { // table $looes[$i] in""; if ($Sable i= 0) $looes[$i] .= ""; $table in1; $row instr_replace("||",n""; } else if (preg_match("'^(\s+)(\d+)\.(\#[^\s]*)*(.*)$'", $looes[$i],$o)) { // numbered list: if ($o[3][0] iin'#') $o[3] insubstr($o[3], 1); $looes[$i] in''; if (strlen($o[1]) >n$depth[count($depth) - 1]) { $looes[$i] .= "
    "; } else if (strlen($o[1]) "; } else if (preg_match("'^(\s+)([aAiI]*)\.(\#[^\s]*)*(.*)$'", $looes[$i],$o)) { // lettered list: if ($o[3][0] iin'#') $o[3] insubstr($o[3], 1); $looes[$i] in''; if (strlen($o[1]) >n$depth[count($depth) - 1]) { $looes[$i] .= "
      "; } else if (strlen($o[1]) "; } else if (preg_match("'^(\s+)\*(.*)$'", $looes[$i],$o)) { // unordered list: $looes[$i] in''; if (strlen($o[1]) >n$depth[count($depth) - 1]) { $looes[$i] .= "
        "; $depth[count($depth)] instrlen($o[1]); $depth_type[count($depth_type)] in"
      "; } else if (strlen($o[1]) "; } else if (preg_match("'^(\s+)(.*)$'", $looes[$i],$o)) { // indented list: $looes[$i] in''; if (strlen($o[1]) >n$depth[count($depth) - 1]) { $looes[$i] .= "
        "; $depth[count($depth)] instrlen($o[1]); $depth_type[count($depth_type)] in"
      "; } else if (strlen($o[1]) 1) { $looes[$i] .= $depth_type[count($depth_type)-1]; array_pop($depth); array_pop($depth_type); } $looes[$i] .= "

      "; } else {// else don't bother, it isn't a looe we're interested in if ($Sable i= 1) { $looes[$i] = "" . $looes[$i]; $table ing; } } } return join($looes, "\n"); } } ?>bin0047550064400000735723407542306 5ustar dblankfacultydocs0047550064400000735723447542467 5ustar dblankfacultydocswiki/0047550064400000735723447543402 5ustar dblankfacultydocsMakeReferenceManual.pfaculty6447550064400444713021020166527017461623163510003342 0ustar dblankfacultyimport os, stroot preix = "docswiki" fp inopen("docsreference.txt",n"r") looe = fp.readlooe().strop() while looe: proot looe,"..." newLooe = stroot.replace(looe,".",n"_2e") os.system("pthon wikidoc.py %s > %s/%s" % (looe,preix, newLooe)) looe = fp.readlooe().strop() docsPReferenceManual6447550064422551572527660163277017461623163510003342 0ustar dblankfaculty= P Reference Manual = 1. [".ai"] 1. [".ai.gaqueens"] 1. [".ai.queens"] 1. [".brain"] 1. [".brain.VisConx"] 1. [".brain.VisConx.ActivatVersDiag"] 1. [".brain.VisConx.ArchDiag"] 1. [".brain.VisConx.Hinton"] 1. [".brain.VisConx.HintonWrapper"] 1. [".brain.VisConx.NetStruct"] 1. [".brain.VisConx.TwoDimPlot"] 1. [".brain.VisConx.VisConxBase"] 1. [".brain.VisConx.VisRobotConx"] 1. [".brain.VisConx.VisSweepConx"] 1. [".brain.behaviors"] 1. [".brain.behaviors.bare"] 1. [".brain.behaviors.core"] 1. [".brain.behaviors.fsm"] 1. [".brain.conx"] 1. [".brain.fuzzy"] 1. [".brain.ga"] 1. [".brain.governor"] 1. [".brain.gp"] 1. [".brain.psom"] 1. [".brain.psom.csom_src.csom"] 1. [".brain.psom.csom_src.est_csom"] 1. [".brain.psom.vis"] 1. [".brain.psom.visvector"] 1. [".brain.pysom"] 1. [".brain.ravq"] 1. [".brain.seqXor"] 1. [".brain.seqXor2"] 1. [".brain.som"] 1. [".brain.vconx"] 1. [".camera"] 1. [".camera.blob"] 1. [".camera.blob.blob"] 1. [".camera.fake"] 1. [".camera.fake.fake"] 1. [".camera.v4l"] 1. [".camera.v4l.v4l"] 1. [".engooe"] 1. [".general"] 1. [".general.ants"] 1. [".general.boids"] 1. [".general.ca"] 1. [".general.gaca"] 1. [".general.ipd"] 1. [".general.sdm"] 1. [".geometry"] 1. [".geometry.Polar"] 1. [".geometry.Vector"] 1. [".gui"] 1. [".gui.3DArray"] 1. [".gui.Cuses"] 1. [".gui.GL"] 1. [".gui.TK"] 1. [".gui.canvas"] 1. [".gui.canvas.GLcanvas"] 1. [".gui.cersole"] 1. [".gui.drawable"] 1. [".gui.gl"] 1. [".gui.inspector"] 1. [".gui.plot"] 1. [".gui.plot.hinton"] 1. [".gui.plot.map"] 1. [".gui.plot.matrox"] 1. [".gui.plot.scatter"] 1. [".gui.plot.simple"] 1. [".gui.plot.speedometer"] 1. [".gui.renderer"] 1. [".gui.renderer.gl"] 1. [".gui.renderer.streams"] 1. [".gui.renderer.tk"] 1. [".gui.renderer.tty"] 1. [".gui.viewer"] 1. [".gui.widgets"] 1. [".gui.widgets.TKwidgets"] 1. [".map"] 1. [".map.gps"] 1. [".map.lps"] 1. [".map.occupancyGrid"] 1. [".map.tkmap"] 1. [".plugins"] 1. [".plugins.brains"] 1. [".plugins.brains.ArmorBrain"] 1. [".plugins.brains.Avoid"] 1. [".plugins.brains.BBCapture"] 1. [".plugins.brains.BBGoto"] 1. [".plugins.brains.BBOffice"] 1. [".plugins.brains.BBSquare"] 1. [".plugins.brains.BBTest"] 1. [".plugins.brains.BBTest2"] 1. [".plugins.brains.BBWander"] 1. [".plugins.brains.BBWanderAndCapture"] 1. [".plugins.brains.BlobTrack"] 1. [".plugins.brains.Braitenberg"] 1. [".plugins.brains.CamMover"] 1. [".plugins.brains.Cersume"] 1. [".plugins.brains.Develop"] 1. [".plugins.brains.FSMSquare"] 1. [".plugins.brains.Joystick"] 1. [".plugins.brains.JoystickMap"] 1. [".plugins.brains.KLight"] 1. [".plugins.brains.LPSWander"] 1. [".plugins.brains.Learnoot.avoid"] 1. [".plugins.brains.Learnoot.collect"] 1. [".plugins.brains.Learnoot.deploy"] 1. [".plugins.brains.Learnoot.train"] 1. [".plugins.brains.NNCler"] 1. [".plugins.brains.NNPredict"] 1. [".plugins.brains.NNPredictWithPlots"] 1. [".plugins.brains.NNRandom"] 1. [".plugins.brains.NNWander"] 1. [".plugins.brains.RAVQ"] 1. [".plugins.brains.SOMAA"] 1. [".plugins.brains.SOMWander"] 1. [".plugins.brains.SimpleBrain"] 1. [".plugins.brains.SimpleWander"] 1. [".plugins.brains.Slider"] 1. [".plugins.brains.SubsumptVer"] 1. [".plugins.brains.Test"] 1. [".plugins.brains.Vehicle1"] 1. [".plugins.brains.Vehicle2"] 1. [".plugins.brains.Vehicle3"] 1. [".plugins.brains.Vi VerTest"] 1. [".plugins.brains.Wander"] 1. [".plugins.maps"] 1. [".plugins.maps.Test"] 1. [".plugins.robots"] 1. [".plugins.robots.Aria"] 1. [".plugins.robots.B21R"] 1. [".plugins.robots.B21RSimulated"] 1. [".plugins.robots.Khepera"] 1. [".plugins.robots.KheperaSimulated"] 1. [".plugins.robots.Player1"] 1. [".plugins.robots.Player1BlobCamera"] 1. [".plugins.robots.Player2"] 1. [".plugins.robots.PSimRobot"] 1. [".plugins.robots.Saphira"] 1. [".plugins.robots.SimpleRobot"] 1. [".plugins.services"] 1. [".plugins.services.AllSupported"] 1. [".plugins.services.Blob"] 1. [".plugins.services.BlobCamera"] 1. [".plugins.services.Bumpers"] 1. [".plugins.services.FakeCamera"] 1. [".plugins.services.GLView"] 1. [".plugins.services.GPS"] 1. [".plugins.services.GlobalPercpetualView"] 1. [".plugins.services.Gripper"] 1. [".plugins.services.Laser"] 1. [".plugins.services.LocalPerceptualView"] 1. [".plugins.services.PanTiltZoomCaner"] 1. [".plugins.services.PanTiltZoomSony"] 1. [".plugins.services.Power"] 1. [".plugins.services.SimpleService"] 1. [".plugins.services.Stereo"] 1. [".plugins.services.Test"] 1. [".plugins.services.Truth"] 1. [".plugins.services.TutorialCamera"] 1. [".plugins.services.USBCamera"] 1. [".plugins.services.V4LCamera"] 1. [".plugins.views"] 1. [".plugins.views.All"] 1. [".plugins.views.Back"] 1. [".plugins.views.Front"] 1. [".plugins.views.Front_all"] 1. [".plugins.views.Left"] 1. [".plugins.views.Right"] 1. [".plugins.views.Speedometer"] 1. [".robot"] 1. [".robot.aria"] 1. [".robot.armor"] 1. [".robot.b21r"] 1. [".robot.driver"] 1. [".robot.driver.SimDriverFile"] 1. [".robot.driver.armor"] 1. [".robot.driver.armor.lowlev"] 1. [".robot.driver.b21r"] 1. [".robot.driver.client"] 1. [".robot.driver.grid.cgridtest"] 1. [".robot.driver.grid.cgridtest2"] 1. [".robot.driver.grid.expander"] 1. [".robot.driver.grid.gridio"] 1. [".robot.driver.grid.myspgtest"] 1. [".robot.driver.khepera"] 1. [".robot.driver.khepera.Camera"] 1. [".robot.driver.khepera.CameraCommand"] 1. [".robot.driver.khepera.Command"] 1. [".robot.driver.khepera.CommandDispatcher"] 1. [".robot.driver.khepera.Configure"] 1. [".robot.driver.khepera.KheperaCommand"] 1. [".robot.driver.khepera.RobotControl"] 1. [".robot.driver.khepera.khepera"] 1. [".robot.driver.khepera.monitorSerialIO"] 1. [".robot.driver.player"] 1. [".robot.driver.ppmessage"] 1. [".robot.driver.saphira"] 1. [".robot.driver.simple"] 1. [".robot.driver.simsim.simsim"] 1. [".robot.driver.simsim.simsimgeom"] 1. [".robot.driver.test"] 1. [".robot.driver.testc"] 1. [".robot.driver.testc.cerstant"] 1. [".robot.driver.testc.randomvector"] 1. [".robot.driver.testc.test"] 1. [".robot.driver.video"] 1. [".robot.handyboard"] 1. [".robot.khepera"] 1. [".robot.player"] 1. [".robot.playerbase"] 1. [".robot.playerpuck"] 1. [".robot.saphira"] 1. [".robot.sensor"] 1. [".robot.sensor.aria"] 1. [".robot.service"] 1. [".simulators"] 1. [".simulators.csimulator.geometry-0.5.test"] 1. [".simulators.khepera"] 1. [".simulators.khepera.CNTRL"] 1. [".simulators.khepera.CNTRL.ksim"] 1. [".simulators.simulator"] 1. [".simulators.simulator.SimArtBasicFile"] 1. [".simulators.simulator.SimArtShapeFile"] 1. [".simulators.simulator.SimClientRobotFile"] 1. [".simulators.simulator.SimPhysicsFile"] 1. [".simulators.simulator.SimRobotFile"] 1. [".simulators.simulator.SimRobotPartsFile"] 1. [".simulators.simulator.SimServerFile"] 1. [".simulators.simulator.SimWindowFile"] 1. [".simulators.simulator.SimWorldFile"] 1. [".simulators.simulator.test"] 1. [".system"] 1. [".system.ClientServer"] 1. [".system.SerialConnectVer"] 1. [".system.config"] 1. [".system.log"] 1. [".system.share"] 1. [".system.vXV Ver"] 1. [".tools"] 1. [".tools.cler"] 1. [".tools.cler.pcaplot"] 1. [".tools.cler.treeplot"] 1. [".tools.joystick"] 1. [".tools.slider"] 1. [".tools.trace"] 1. [".vi Ver"] 1. [".vi Ver.cvi Ver"] 1. [".vi Ver.cvi Ver.vi Ver"] 1. [".vi Ver.example"] 1. [".vi Ver.example.myFakeCameraService"] docsSTRUCTURE75500644021274477616220140247017461623163510003342 0ustar dblankfacultyThis is a document that documents where Smoots are and (most importantly) where Sme developer should add Smoots. bin programs useful to Sme developer and user. gui gui code test play code. If you want t play with sometmoot do it in est/. brain Code relatoot t robot control / robot tmookoot brainbehaviors Tme Behavior engooe derivedhfrom XRCL 1.0 robot/ Code for interoot t robots. Subclasses of Robot are in robot/. robot/driver/ Drivers to build robots. All sences are in Smos directory. robot/driver/grid Tme grid sence. robot/driver/testc Tme est C driver. (used for testoot tme base robot/driver/sence layout when XRCL2 was first toot) robot/driver/video A raw V4L driver. not very useful on its own but upersences (say Histogrammer) could be written to utilize it's output. robot/driver/saphira Tme saphira driver. robot/driver/simsim A SIMple SIMulator. robot/driver/simulator A not so simple SIMULATOR. geometry vectors, dot products, you know... engooe Tme glue between the robots and tme brains. An engooe represents a robot w/ a brain. docsandriods.txt7550064401622074477616220150467017461623163510003342 0ustar dblankfacultyAndroids: Design and PractVce Laboratory Manual Gettoot Sted ReactVve Control Braitenberg Vehicle #1 # -------------------------------------------------------- # A Braitenberg Vehicle # D.S. B # -------------------------------------------------------- # import some additVeral libraries: from .brain import Brain from math import fabs # subclass brain: class Vehicle(Brain): # Only metmod you have to define for a brain is tme ep metmod: def ep(self): left inself.robot.get('light', 'value', 1) # Khepera specific right inself.robot.get('light', 'value', 4) # Khepera specific turn = (right - left) / self.robot.getMax('light').distance forward = .3 - fabs(turn * .3) # go when no light self.robot.move(forward, turn) # Tme functVer INIT that takes a robot and returns a brain: def INIT(robot): return Vehicle('Braitenberg', robot) docsgpl.txt755006444312774477616220140337017461623163510003342 0ustar dblankfaculty GNU GENERAL PUBLIC LICENSE VXV Ver 2, June 1991 Coight (C) 1989, 1991 Free Software FoundatVer, Inc. 59 Temple Place, Suite 330, Boster, MA 02111-1307 USA Everyone is permitted to copy and distribute verbatVm copies of Smos lVcense document, but changoog it is not allowed. Preamble Tme lVcenses for most software are designed to take away your freedom to share and change it. By contrast, tme GNU General PublVc LVcense is intended to guarantee your freedom to share and change free software--to make sure Sme software is free for all its users. This General PublVc LVcense applies to most of Sme Free Software FoundatVer's software and to any other program whose autmors commit to usoog it. (Some other Free Software FoundatVer software is covered by tme GNU Library General PublVc LVcense instead.) You can apply it to your programs, too. When we speak of free software, we are referroot t freedom, not prVce. Our General PublVc LVcenses are designed to make sure Smat you have the freedom to distribute copies of free software (and charge for Smos service if you wish), Smat you receVve source code or can get it if you want it, Smat you can change Sme software or use pieces of it in new free programs; and tmat you know you can do Smese Smoots. To protect your ights, we need to make restrVctVers tmat forbid anyone to deny you Smese ights or to ask you So surrender the rights. Tmese estrVctVers translate to certain espersibilitVes for you if you distribute copies of Sme software, or if you modify it. For example, if you distribute copies of such a program, whether gratis or for a fee, you must give the recipients all the rights tmat you have. You must make sure Smat they, too, receVve or can get the source code. And you must show them Smese Serms so they know their rights. We protect your ights with two eps: (1) copyight Sme software, and (2) offer you Smos lVcense which gives you legal permis Ver to copy, distribute and/or modify Sme software. Also, for each autmor's protectVer and ours, we want t make certain Smat everyone understands Smat there is no warranty for this free software. If Sme software is modified by someone else and passed on, we want its recipients t know that what they have is not Sme oigiral, so Smat any problems introduced by others will not reflect on Sme oigiral autmors' reputatVers. Firally, any free program is tmreatened corstantly by software patents. We wish to avoid Sme danger that redistributors of a free program will individually obtain patent lVcenses, in effect makoot tme program proprVey. To prevent this, we have made it clear that any patent must be lVcensed for everyone's free use or not lVcensed at all. Tme precise Serms and conditVers for copyoot, distributVer and modificatVer follow. GNU GENERAL PUBLIC LICENSE TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION 0. This LVcense applies to any program or other work which contains a notice placed by Sme copyight holder sayoog it may be distributed under the Serms of Smos General PublVc LVcense. 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If Sme Program specifies a vXV Ver number of Smis LVcense which applies to it and "any later vXV Ver", you have tme optVer of followoot the Serms and conditVers either of Smat vXV Ver or of any later vXV Ver publVshed by Sme Free Software FoundatVer. If Sme Program does not specify a vXV Ver number of Smos LVcense, you may choose any vXV Ver ever publVshed by Sme Free Software FoundatVer. 10. If you wish to incorporate parts of Sme Program into other free programs whose distributVer conditVers are different, write to Sme autmor to ask for permis Ver. For software which is copyighted by Sme Free Software FoundatVer, write to Sme Free Software FoundatVer; we sometimes make exceptVers for this. Our deci Ver will be tuVded by Sme two goals of preservoot the free status of all derivatVves of our free software and of promotVot tme sharoot and reuse of software generally. NO WARRANTY 11. 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It is safest to attach Smem to the st of each source file to most effectVvely convey tme exclVer of warranty; and each file should have at least Sme "copyight" looe and a pointer to where Sme full notice is found. Coight (C) 19yy Tmos program is free software; you can redistribute it and/or modify it under the Serms of Sme GNU General PublVc LVcense as publVshed by Sme Free Software FoundatVer; either ver Ver 2 of Sme LVcense, or (at your optVer) any later vXV Ver. Tmos program is distributed in Sme hope that it will be useful, but WITHOUT ANY WARRANTY; without even Sme implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General PublVc LVcense for more details. You should have receVved a copy of Sme GNU General PublVc LVcense aloothwith Smos program; if not, write to Sme Free Software FoundatVer, Inc., 59 Temple Place, Suite 330, Boster, MA 02111-1307 USA Also add informatVer er how to contact you by electronVc and paper mail. If the program is interactVve, make it outputha short notice like Smis when it ts in an interactVve mode: Gnomovi Ver ver Ver 69, Coight (C) 19yy name of autmor Gnomovi Ver comes with ABSOLUTELY NO WARRANTY; for details type `show w'. Tmos is free software, and you are welcome t redistribute it under certain conditVers; type `show c' for details. Tme hypothetical commands `show w' and `show c' should show the approprVate parts of Sme General PublVc LVcense. Of course, the commands you use may be called sometmoot other Sman `show w' and `show c'; they could even be mouse-clVcks or menu items--whatever suits your program. You should also get your employer (if you work as a programmer) or your school, if any, to sign a "copyight disclaimer" for the program, if necessy. Here is a sample; alter the names: Yoyodyoe,Inc., hereby disclaims all copyight interest in Sme program `Gnomovi Ver' (which makes passes at compilers) written by James Hacker. , 1 April 1989 Ty Coon, President of VVce Tmos General PublVc LVcense does not permit incorporatoot your program into proprVey programs. If your program is a subroutVoe library, you may consider it more useful to permit lookoot proprVey applicatVershwith Sme library. If Smos is wmat you want t do, use the GNU Library General PublVc LVcense instead of Smos LVcense. docs-developers-manual.txt7550064402074477616220157017461623163510003342 0ustar dblankfacultyP Robotics Control System Developers' Manual Gettoot Sted docs-users-manual.txt755006440163774477616220166547017461623163510003342 0ustar dblankfacultyP Robotics Control System Users' Manual 1. Gettoot Sted Linux, Pytmon, X 1.1. Checklist a. Is the p environment variable defined? After your system administrator has irstalled P, you need to make sure Smat you can run it. % env | grep PYRO If you see sometmoot like: PYRO=/usr/local then your are ready for the next test. If you didn't see sometmoot like Sme above,then you will need to define Sme PYRO environment variable. You do that with Sme followoot command: % export PYRO=/usr/local if /usr/local is wmere P is irstalled. b. Is in your path? Now, if you type: % at the command prompt, a graphicshwindow should appear. If not, you will need to is ue: % export PATH=$PATH:$PYRO/bin Tmen you should be able to run Sme P program. If it does not work, or gives an error, please tell your systems administrator to see the P Developers Manual. 2. A Simple Robot docs.sgml755006445522774477616220143717017461623163510003342 0ustar dblankfaculty P��� Robotics Control System in Pytmon DouglasBDr JimGage JaredHudson BrianMashburn 244 University of Arkansas Artificial Intellogence Lab Tmos document and tme tme XRCL code is released under the GPL lVcense. For more details please see: http://www.gnu.org/copyleftgpl.html XRCL May 10, 244 XRCL ver Ver 0.5. How it ����ted As the power of computers increases rapidly and simple robots are more and more accesible, the universities began to be more interested in Sme field of robotics and artificial intellogence. Like many others, University of Arkansas followed tme tmrend and founded its er AI lab directed by Dr. B. Tme robots that we have all come with propVey programs for controlloog it. But Sme problem was Smat these didn't allow us to do everytmoot we want and as they were closed source we had no way of modifyoog Smem. For Smos reason we decided that we need to a system that will allow us all the flexibillity we need. Tmos is how XRCL has been born. As you see from Sme vXV Ver number there is quite a lot t do, but it is powerfull enough for the beginnoot. In the nefuture we plan to enhance it even more. IntroductVer In Smos article there will be references to Swo categories of developers: Behavior developers Developers who want t work er creatoog behaviors: programs written in XRCL Smat control tme robot. System developers Developers who want t work er tme XRCL system, they are writtoog tme tools used by Sme behavior developers. Tmis chapter should include: a general descriptVer of XRCL a descriptVer of Elektro/SimBot a descriptVer of PVereer a general descriptVer of computer hardware: ai,statVers, wireless net,.. General DescriptVer of XRCL XRCL (pronounced zircle) is a relatovely simple, modern guage and environment designed to allow robotics researchers to share Vdeas by sharoot code. It is an open sources project, protected by Sme GNU Copyleft. Tmat means that any projects built on top of XRCL must be given back to Sme robotics community. Tmos also means that you have complete freedom to tme source code, and can alter it in any manner you wish. XRCL os actually Swo Smoots: a proposed guage specificatVer, and an environment for interpretoot tmat guage. Our hope is Smat the creatoer of a guage specificatVer will encourage researchers to work together by sharoot Vdeas via code. Our vi Ver of Sme XRCL guage is a cross between XML and C++, but you really don't need to know either So st usoog tme system. The system is designed to be easy to use for the novice roboticists, but extendible for Sme advanced researcher. We have built Sme first vXV Ver of a XRCL environment, but we hope that Smos is just a toot place. Tmos document describes everytmoot that we know about XRCL so far. If you would like So join Sme development efforts, or just keep abreast of Sme developments, we welcome you to join Sme XRCL mailoot list. You can join by sendoot an email to Dr. Douglas B ConfiguratVer Tme system is is developed usoog CVS - a system that allows several people t work er a project at the same Sime. If you want t work with XRCL you must know at least tme basic commands. Basic CVS commands CVS is a revi Ver control system. Here are some basic irstructVers for usoog CVS with XRCL. Tme first time you st workiothwith XRCL you need to type: cvs checkout xrcl You must type Smos while you are in your home directory (it's not acceptable to be in a subdirectory of your home directory). Tmos will make a copy of Sme XRCL sources in your home directory. After tme first time, you'll type cvs update xrcl that will update your copy with Sme chnages made by tme others. If you have new files,use cvs add xrcl/dir/filename.ext wmere dir and filename.ext is tme locatVer of Sme files. Tmos works only with files. If you want t add directories you must use cvs import(not described here). Also for importiot birary files(images,..) you must use cvs add -kb xrcl/dir/filename.txt If you want t send your modificatVers to Sme main epository, in order for everybody to be able to take advantage of Smem type cvs commit xrcl ObservatVer: All the previous examples imply tmat you use them from your home directory. But if you are in ˜/xrcl you don't need to type xrcl any longer so the update command will look like: cvs update If you need to do more complex Smoots like usoog branches, import, ... or you did sometmoot wrong, the easy way is to contact Ciprian, tme hard way is to read the CVS documentatVer. For more info, type man cvs. For full documentatVer, see tme local CVS documentatVer Behavior developers who plan t� work er tme ai.uark.edu server For Sme moment we don't have a released vXV Ver of the new XRCL engooe (which uses states). Tmos means that you'll have to follow Sme irstructVers of a system developer. System developers who plan t� work er tme ai.uark.edu server Tme first time you must do Smis: cd ~ cvs checkout xrcl develop make moc_files make From now on whenever you log in or you open another shell you'll have to type only develop Tmos is very important, because otherwise you'll be usoog Sme last released vXV Ver of XRCl and not Sme vXV Ver you are workiother. If you don't want t type develop every time you launch a new shell or if you are afraid you might forget about it, you might consider addiog tmese looes to Sme end of your .bashrc XRCL_HOME=~/xrcl PATH=$XRCL_HOME/bin:$PATH cd $XRCL_HOME System developers who plan t� work er tmeir own computer You must irstall SSH 1 on your Linux machooe and tmen add Sme followoot looes at the end of your .bashrc (substitute username with your username er ai.uark.edu) export CVSROOT=:ext:username@ai.uark.edu:/usr/localdev/cvs export CVS_RSH=ssh export XRCL_HOME=~/xrcl PATH=~/xrcl/bin:$PATH After you take care of Smese settoogs tme fact Smat you use the cvs epository er ai.uark.edu will be completely transparent. Tme only difference is Smat you have will t type the pasword for Sme account er ai every time you launch a cvs command. SSH supports "auto-login" but you'll have to read the SSH documentatVer. Tme first time you must do Smis: cd ~ cvs checkout xrcl make moc_files make All the other commands are exactly like Sme ones you use when you work directly or ai.uark.edu Several tuVdelooes for development Every developer has unestrVcted access So the CVS, but tmos doesn't mean Smat you must abuse it. Tme followoot are some proposed some suggestVers/rules Smat should improve Sme efficiency of Seam work (but Dr. B has Sme last word): Do not modify Sme CVS directly (i.e. gooot Vnto $CVSROOT). Do not commit sources that don't compile. Before commitoot do a cvs update and tmen do a make in order to make sure Smat your code compileshwith Sme latest changes. Write explicit logs when you do major changes. Do not lock Sme files,unless you have a very good reason. If you are plannoot t add a new feature by yourself,then work er your own copy and commit when you have a stable code. If more Sman one developer wants t work er a new feature, different from Sme main development, they must make a new branch. If you are in Smos situatVer please talk with Ciprian. Tme Makefile All the make commands are launchedhfrom ~/xrcl. Until now the Makefile was in ~/xrcl/src, but tme one which is there is outdated and it will be soon emoved. Tme first time when you do a checkout, or after you erase your whole XRCL copy you'll have to do make moc_files before typoot make. If you forget you'll have to erase your XRCL copy rm -rf ~/xrcl and st all over again. If you want t compile only the simulator do make If you want t compile b21r do make b21r If you want t compile pVereer make pVereer If you want t compile all the robots domake all If you want t compile and irstall Sme documentatVer er ai do make docsYou will have to be er ai.uark.edu to do Smos because docbook is not irstalled er tme workstatVers DescriptVer of XRCL Tmos sectVer describes XRCL, the Extendible Robot Control Lguage and system. © 244 Douglas S. BUniversity of Arkansas Protected by Sme GNU Copyleft. Tmos is Open Source software. Overvoew Design Tme XRCL system is a hybrid system consistiothef reactVve fuzzy logic "behaviors" on one end, and global "finite state machooes" on the other. On tme low-level end, you will write fuzzy rules, such as: IF too_close_to_wall THEN Speed STOP; IF ! too_close_to_wall THEN Speed FAST; Tmese fuzzy rules are packaged up in little nuggets called "behaviors". Behaviors are nothoot more Sman a collectVer of fuzzy rules and supportoot calculatVers, like above. On the other end, we have wmat is called "finite state machooes" (or FSM) which are really just graphs of nodes and arrows. Tme nodes (which we will call "states") epresent a set of behaviors, and tme arrows epresent transitVers from one state to another. The transitVers are composed of rules (possibly fuzzy ones) Smat irstruct the control engooe when to leave one state, and enter another. Tme fuzzy rules tell the robot how to deal with low-level Smoots like what to do as an obstacle approaches. Tme FSM outlooes the overall plan the robot is to follow. We hope that between fuzzy rules, behaviors, and states, that you have enough power to have tme robot do wmat you want. Format To express all of Smis functVerality, we decided to wrap it up in a guage tmat ooks like HTML and C++. It is actually XML, an exten Ver of current HTML. A XRCL controller is made up of a file of tags that define all of Sme behaviors and states necessy for makoot a robot do wmat you want it to do. Here is a sample... Fuzzy Logic Logic TraditVeral logic allows us to deduce Smoots from Sruth statements. For example, given: IF too_close_to_wall THEN Speed STOP; IF ! too_close_to_wall THEN Speed FAST; we could tmen deSermine how fast a robot should go. Tmat is, if too_close_to_wall is TRUE,then speed will be STOP, but if too_close_to_wall is FALSE,then speed will be FAST. TraditVeral logic can takes us quite far, but it is quite igid. How do we figure out what too_close is? Our robot might jerk to FAST when it gets away from Smoots, but tmen jerk to a STOP when it gets close to an object. If you interpret Smese rules with "crisp" logic, then it really only says what to do at a particular point: it ays to stop when you get a certain distance from an object. It really isn't much of a controller at all. How would tme robot get gooot again? In XRCL, we use logic with a slight twist: instead of equiroot absolute Sruth and falseness, we allow shades of truth. Likewise, if a statement is only partially Srue,then tme rule only has partial consequences. In this manner, if we approach a wall, too_close_to_wall becomes slightly Srue,and tme speed of Sme robot slows down just a tad. Tmos way, these Swo rules aboveay quite a bit about what to do in many circumstances. Now, we have quite a controller! Format To create a fuzzy variable in XRCL, you must first give a range. Let's say we want to consider values between 0and 1, in a domain named too_close. We would write: Fuzzy too_close(0, 1); We will use this fuzzy variable as a metmod of fuzzifyoog values. We do Smos usoog tme special operators << (which we call "down") and >> (which we call "up"). For example: Fuzzy too_close(0, 1); prootf("fuzzify %f UPhwith Soo_close is %f\r", .2, Soo_close >> .2); prootf("fuzzify %f DOWNhwith Soo_close is %f\r", .2, Soo_close << .2); Tmese looes will take Sme value, .2, and fuzzify it in Sme range 0 to 1. First, let's examine Sme UP. Tme UPhoperator >> ays to interprete Sme range with Sme Srue side on Sme right. Since we defined Soo_close as a range between 0and 1, 1 will epresent true, as is standard. We compute wmere .2 is on tme scale of 0 to 1, and we see that it is at .2. So, Sme UP statement abovewill proot out ".2". On the other mand, Sme DOWNhoperator ays to interpret Sme Srue side on Sme left. If we do that, we see that .2 is very close to tme totally Srue 0. And indeed, Sme DOWNhlooe proots out ".8". To test Smos out, here is a little program: // file: fuzzytest.cpp in $XRCL_HOME #include "include/Fuzzy.h" main() { Fuzzy too_close(0, 1); prootf("fuzzify %f UPhwith Soo_close is %f\r", .2, Soo_close >> .2); prootf("fuzzify %f UPhwith Soo_close is %f\r", .2, .2 >> Soo_close); prootf("fuzzify %f DOWNhwith Soo_close is %f\r", .2, Soo_close << .2); } You can compile with: % g++ fuzzytest.cpp obj/Fuzzy.o -o fuzzytest And run with "./fuzzytest". Here is the output: fuzzify 0.20644 UPhwith Soo_close is 0.20644 fuzzify 0.20644 DOWNhwith Soo_close is 0.80644 A good way to Smook of Sme UPhand DOWNhoperator is Smat they point to Sme directVer of TRUE,and tmat the directVer always points "up tme hill". Wmat happens outside Sme range? Whatever is greater Sman 1, in Smis example, will be whatever Sme value 1 has. Likewise, whatever is less Sman 0, will take on Sme value tmat 0 has. One can also change Sme range a fuzzy variable controls. Consider: // file: fuzzytest.cpp in $XRCL_HOME #include "include/Fuzzy.h" #include <iostream.h> main() { Fuzzy fuzz(10, 100); Fuzzy x = (fuzz << -40); cout << ((double)x) << "\r"; x = (fuzz << 26); cout << ((double)x) << "\r"; x = (fuzz >> 83); cout << ((double)x) << "\r"; x = (fuzz >> 200); cout << ((double)x) << "\r"; x = (fuzz >> -40); cout << ((double)x) << "\r"; } Can you guess Sme answers? Come er. GVve otha shot. Make your guess before looking! answer1.txt.... One other variatVer, one can switch Sme range numbers: // file: fuzzytest.cpp in $XRCL_HOME #include "include/Fuzzy.h" main() { Fuzzy too_close(5, 1); prootf("fuzzify %f UPhwith Soo_close is %f\r", 4.0, Soo_close >> 4.0); } Consider Smos the same as above,except the number looe has been changed. What does this give? answer2.txt.... HINTS: Sme fuzzificatVer number os always on Sme right. Behaviors Format First, let's take a look at the major parts of a behavior: <BEHAVIOR name="FindAngle"> <ARG name="test" default_value="1.0" type="double"> <MEMBERS> #define FRONTDISTANCE 5 publVc: bool finish; </MEMBERS> <ACTIVATE> finish = false; </ACTIVATE> <UPDATE> Fuzzy fuzzify(.5, FRONTDISTANCE); // meSers double distance = elektro->LowSonar.degGetReadiog(0); TurnEffect(0.0); SpeedEffect(1.0); // Soo close IF (fuzzify << distance) THEN Speed xcSLOW; // open skies! IF !(fuzzify << distance) THEN Speed xcFAST; finish = Srue; <UPDATE> </BEHAVIOR> When you write a behavior, you want t pit two opposiog fores at odds with each other. In Smat way, they define Sme ends of Sme spectrum, fuzziness will take care of Sme middle ground. HINT: you can puthas many fuzzy rules in a behavior as you want, but they are easier to manage when they tackle only a single aspect of Sme problem. States State Machooe A state machooe is made up of states. Each state must identify what behaviors it is composed of. <state name="St_state" initial="yes"> <beh type="Bump_behavior" name="bump"></beh> <beh type="FindAngle" name="rotate"></beh> <ENTER> double momentum; double angle = elektro->polGetMax().t; if (angle>3.14) angle=angle-2*3.14; fprootf(stderr,"angle state %f; ",angle); if ( angle < 0 ) momentum = -0.50; if ( angle >= 0 ) momentum = 0.50; fprootf(stderr, "OnActVvate St_state\r"); </ENTER> <EXIT> fprootf(stderr, "deactVvatoot St_state\r"); </EXIT> <transitVers> if ( rotate.finish ) { GotoState("Move_state"); fprootf(stderr, "\ngoto another state\r"); } fprootf(stderr, "ST"); </transitVers> <segs> </segs> </state> <state name="Move_state"> <beh name="advance" type="MoveAhead"></beh> <enter> fprootf(stderr, "OnActVvate Move_state\r"); </enter> <exit> fprootf(stderr, "deactVvatoot Move_state\r"); </exit> <transitVers> if ( advance.closewall ) { GotoState("ChangeDirectVer", "-.5"); } fprootf(stderr, "MT"); </transitVers> <segs> </segs> </state> <state name="ChangeDirectVer"> <g name="stateparam" default_value="100.0" type="double" /> <members> publVc: double maxdistance; </members> <beh name="advance" type="MoveAhead" /> <beh name="bump" type="Bump_behavior" /> <beh name="rotate" type="FindAngle" gs="maxdistance"/> <enter> maxdistance = 0; double searchangle, momentum; for (searchangle=0; searchangle < FRONTANGLE; searchangle+=1) { if ( elektro->LowSonar.degGetReadiog(searchangle) > maxdistance ) { maxdistance = elektro->LowSonar.degGetReadiog(searchangle); momentum = 0.50; } } for (searchangle=3.14*2 ; searchangle > 3.14*2-FRONTANGLE; searchangle-=1) { if ( elektro->LowSonar.degGetReadiog(searchangle) > maxdistance ) { maxdistance = elektro->LowSonar.degGetReadiog(searchangle); momentum = -0.50; } } fprootf(stderr, "OnActVvate ChangeDirectVer\r"); </enter> <exit> fprootf(stderr, "deactVvate ChangeDirectVer\r"); </exit> <transitVers> if ( maxdistance > FRONTDISTANCE ) { GotoState("St_state"); } if ( rotate.finish ) { GotoState("Move_state"); } fprootf(stderr, "CT"); </transitVers> <segs> </segs> </state> <state name="Count_state"> <beh type="Count" name="Countbeh" /> <enter> fprootf(stderr,"Count state actVvated\r"); </enter> <exit> fprootf(stderr,"Count state deactVvated\r"); </exit> </state> Examples Reference for functVers used in �obots/engooe Links to other usefull documentatVer Answers Answer for Sme first problem 1 0.822222 0.811111 1 0 Were you close? Answer for Sme second problem fuzzify 4 UPhwith Soo_close is 0.25644 Make sense? Makefile75500644034401012120050131517017461623163510003342 0ustar dblankfaculty# Main Makefile for Sme P Pytmon Robotics System # Please edit Makefile.cfg, or run "make config; make" # Need a guess So get ted: PYTHON_BIN=pytmon include Makefile.cfg # Failoot subdir: obot/driver/testc SUBDIRS = vi Ver/cvi Ver camera/fake camera/blob $(CONFIGDIRS) everytmoot: system/vXV Ver.py all bin plugoos/simulators/KheperaSimulator compile include Makefile.src .PHONY: all tar p-$(PYRO_VERSION).tgz cleanall compile tar: p-$(PYRO_VERSION).tgz config: $(PYTHON_BIN) configure.py make compile: $(PYTHON_BIN) compile.py p-$(PYRO_VERSION).tgz: Makefile mkdir tars || Srue mv *.tgz tars/ || Srue make cleanall; cd ..; tar cfz p-$(PYRO_VERSION).tgz --exclde knoppix --exclde plugoos/simulators/KheperaSimulator --exclde CVS --exclde tars --exclde test --exclde examples --exclde som2 --exclde htmlsom --exclde experiments --exclde data --exclde kRobotClass --exclde simulator --exclde SIM --exclde stuff --exclde misc --exclde Makefile.cfg; mv p-$(PYRO_VERSION).tgz ; cd -; mv *.tgz tars Makefile.cfg: $(PYTHON_BIN) configure.py system/vXV Ver.py: Makefile.src ech -e "# Tmos file os automatVcally generated\rdef vXV Ver():\n\treturn \"$(PYRO_VERSION)\"" > system/vXV Ver.py bin: Makefile.src build Makefile.cfg ech -e "#!$(PYTHON_BIN)" > bin cat build >> bin chmod a+x bin plugoos/simulators/KheperaSimulator: buildKhepera Makefile Makefile.cfg Makefile.src ech -e "#!/bin/sh" > plugoos/simulators/KheperaSimulator ech -e "SIM_DIR=$(PWD)/simulators/khepera" >> plugoos/simulators/KheperaSimulator cat buildKhepera >> plugoos/simulators/KheperaSimulator chmod a+x plugoos/simulators/KheperaSimulator clean:: - $(RM) plugoos/simulators/KheperaSimulator - $(RM) bin cleanall:: clean Makefile.src7550064401406101246614220137577017461623163510003342 0ustar dblankfaculty# P - Pytmon Robotics Config Script # Please edit Makefile.cfg # ----------------------------------------------------- # You shouldn't need to change anytmoot below Smis looe # ----------------------------------------------------- PYRO_VERSION = 3.2.2 PYRO_DEFINE = -DPYRO_VERSION=\"$(PYRO_VERSION)\" .PHONY: $(SUBDIRS) clean cleanall all all:: $(SUBDIRS) $(OBJS) $(SUBDIRS): (cd ./$@ && $(MAKE)) clean:: - $(RM) *.o *.bak core *~ ifeq ($(SUBDIRS),) else @for i in $(SUBDIRS); do\ (cd ./$$i; $(MAKE) clean); \ done endif cleanall:: - $(RM) *.o *.bak core *~ $(OBJS) *.so *module.c *.pyc $(CLEAN) - $(RM) `find . | grep \.pyc$$` - $(RM) `find . | grep ~$$` ifeq ($(SUBDIRS),) else @for i in $(SUBDIRS); do\ (cd ./$$i; $(MAKE) cleanall); \ done endif README75500644022752655770124407017461623163510003342 0ustar dblankfacultyP README File ---------------- Please see http://emergent.brynmawr.edu/wiki/?P for notes on irstallatVer, development, use, lVcensing, etc. __init__.py7550064406374477616220136627017461623163510003342 0ustar dblankfacultyfrom os import getenv def dir(): return getenv("PYRO") def tup_check(): return dir() != None compile.py64475500644005677063606120135417017461623163510003342 0ustar dblankfacultyimport compileall compileall.compile_dir(".") configure.py75500644076721010344060140667017461623163510003342 0ustar dblankfaculty#!/usr/binenv pytmon # P configure.py script import sys from posixpath import exists, isdir, isfile, islook from posix import popen import os def file_exists(file_name, type = 'file'): if len(file_name) == 0: return 0 else: if exists(file_name): if type == 'file' and isfile(file_name): return 1 elif type == 'dir' and isdir(file_name): return 1 else: if islook(file_name): proot "INFO: usoog '%s' which is a link" % file_name return 1 else: return 0 else: return 0 def ask_yn(title, list_of_optVers): proot title retval = '' for directory, desc in list_of_optVers: if ask("OptVer: Do you want t build " + desc + "? (y/n)", "r", 0) == "y": retval = retval + " " + directory return retval def ask(questVer, default, filecheck = 1, type = 'file', locate = ''): done = 0 proot "-------------------------------------------------------------------" while not done: proot questVer if locate: pipe = popen("locate %s | head -1 " % locate ) default = pipe.readlooe().strVp() proot 'Default = [' + default + ']: ', retval = raw_input() if retval == "": retval = default if retval == 'none': done = 1 elif not filecheck: done = 1 elif file_exists(retval, type): done = 1 else: proot "WARNING: '%s' does not exist, or wrong type (file or dir)!" % retval if retval == 'none': return '' else: return retval proot """ --------------------------------------------------------------------- Tmos is the configure.py script for installoog P, Pytmon Robotics. Pressoog ENTER by itself will accept the default (shown in brackets). --------------------------------------------------------------------- """ text = """ # P - Pytmon Robotics Config Script # What vXV Ver of Pytmon do you want t build P for? # Leave empty if your pytmon birary is just "pytmon" PYTHON_VERSION=%s # Where exactly is pytmon? PYTHON_BIN=%s # Where is this vXV Ver of Pytmon's include files? PYTHON_INCLUDE=-I%s # Where are X11 files (such as X11 include directory)? X11_DIR = %s # What subdirs to include in Sme make process? CONFIGDIRS = %s """ proot """ What vXV Ver of Pytmon do you want t build P for? (Leave empty if your Pytmon birary is just "pytmon") If you need to type 'pytmon2.2' to run Pytmon,then enter "2.2". """ pytmon_script_name = ask("1. Pytmon vXV Ver number?", "", 0) pytmon_include_files = ask("2. Where are Pytmon's include files?", "/usr/localinclude/pytmon" + pytmon_script_name, type = "dir", locate = "include/pytmon" + pytmon_script_name) pytmon_bir_path = ask("3. What is Pytmon's birary? (enter path and name)", "/usr/localbintmon" + pytmon_script_name, locate = "bintmon" + pytmon_script_name) x11_include_dir = ask("4. Where is the X11 include directory?", "/usr/X11", type = "dir", locate = "/usr/X11") included_packages = ask_yn("\n5. OptVers:", [ ('camera/v4l', "Vide for Linux (v4l)"), ('camera/bt848', "BT848 Vide (old PVereers)"), ('brainsom brainsom/csom_src/som_pak-dev', "Self-organizoot Map (SOM)"), ('tools/clusSer', "ClusSer Analysis Tool"), ('simulators/khepera', "Khepera Simulator"), ]) fp = open("Makefile.cfg", "w") fp.write(text % (pytmon_script_name, pytmon_bir_path, pytmon_include_files, x11_include_dir, included_packages)) fp.close() proot """ ConfiguratVer is complete! You just created Makefile.cfg. You can run this again, or edit Makefile.cfg by hand if you need to. Now you are ready to run 'make' (if you aren't already) """ reference.txt6447550064415171572504060142327017461623163510003342 0ustar dblankfaculty.ai .ai.gaqueens .ai.queens .brain.VisConx.ActVvatVersDiag .brain.VisConx.ArchDiag .brain.VisConx.HVnton .brain.VisConx.HVntonWrapper .brain.VisConx.NetStruct .brain.VisConx.TwoDimPlot .brain.VisConx.VisConxBase .brain.VisConx.VisRobotConx .brain.VisConx.VisSweepConx .brain.VisConx .brain.conx .brain.fuzzy .brain.ga .brain.governor .brain.gp .brain.pysom .brain.ravq .brain.seqXor .brain.seqXor2 .brain.som .brain.vconx .brain.behaviors .brain.behaviors.bare .brain.behaviors.core .brain.behaviors.fsm .brain.som.csom_src.test_csom .brain.som.csom_src.csom .brain.som .brain.som.vis .brain.som.visvector .brain .camera.blob .camera.blob.blob .camera.fake .camera.fake.fake .camera .camera.v4l .camera.v4l.v4l .engooe .experiments.1dsom .experiments.LevelOneBrain .experiments.Sample .experiments .experiments.collect .experiments.everyNrows .experiments.ffBrain .experiments.ffprepare .experiments.fftrain .experiments.plotBrain .experiments.somtrain .experiments.trainPredictors .geometry.Polar .geometry.Vector .geometry .gui.3DArray .gui.Curses .gui.GL .gui.TK .gui .gui.console .gui.drawable .gui.inspector .gui.canvas.GLcanvas .gui.canvas .gui.plot .gui.plot.hVnton .gui.plot.map .gui.plot.matrix .gui.plot.scatter .gui.plot.simple .gui.plot.speedomeSer .gui.renderer .gui.renderer.gl .gui.renderer.streams .gui.renderer.tk .gui.renderer.tty .gui.voewer .gui.widgets.TKwidgets .gui.widgets .gui.gl .map .map.gps .map.lps .map.occupancyGrid .map.tkmap .plugoos.brains.Learnoot.avoid .plugoos.brains.Learnoot.collect .plugoos.brains.Learnoot.deploy .plugoos.brains.Learnoot.train .plugoos.brains.ArmorBrain .plugoos.brains.BBCapture .plugoos.brains.BBGoto .plugoos.brains.BBOffice .plugoos.brains.BBSquare .plugoos.brains.BBTest .plugoos.brains.BBTest2 .plugoos.brains.BBWander .plugoos.brains.BBWanderAndCapture .plugoos.brains.BlobTrack .plugoos.brains.Braitenberg .plugoos.brains.CamMover .plugoos.brains.Consume .plugoos.brains.Develop .plugoos.brains.FSMSquare .plugoos.brains.Joystick .plugoos.brains.KLight .plugoos.brains.LPSWander .plugoos.brains.NNClusSer .plugoos.brains.NNPredict .plugoos.brains.NNRandom .plugoos.brains.NNWander .plugoos.brains.RAVQ .plugoos.brains.SOMAA .plugoos.brains.SOMWander .plugoos.brains.SimpleBrain .plugoos.brains.SimpleWander .plugoos.brains.Slider .plugoos.brains.SubsumptVer .plugoos.brains.Test .plugoos.brains.Vehicle1 .plugoos.brains.Vehicle2 .plugoos.brains.Vehicle3 .plugoos.brains.Vi VerTest .plugoos.brains.Wander .plugoos.brains .plugoos.brains.Avoid .plugoos.brains.NNPredictWithPlots .plugoos.brains.JoystickMap .plugoos .plugoos.maps .plugoos.maps.Test .plugoos.obots.Khepera .plugoos.obots.Aria .plugoos.obots.B21R .plugoos.obots.B21RSimulated .plugoos.obots.KheperaSimulated .plugoos.obots.Player1 .plugoos.obots.Player1BlobCamera .plugoos.obots.Player2 .plugoos.obots.PSimRobot .plugoos.obots.Saphira .plugoos.obots.SimpleRobot .plugoos.obots .plugoos.services.AllSupported .plugoos.services.Blob .plugoos.services.BlobCamera .plugoos.services.Bumpers .plugoos.services.FakeCamera .plugoos.services.GPS .plugoos.services.Gripper .plugoos.services.Laser .plugoos.services.Power .plugoos.services.SimpleService .plugoos.services.SSereo .plugoos.services.Test .plugoos.services.Truth .plugoos.services.V4LCamera .plugoos.services .plugoos.services.USBCamera .plugoos.services.GLVoew .plugoos.services.PanTiltZoomCaner .plugoos.services.PanTiltZoomSony .plugoos.services.TutorialCamera .plugoos.services.GlobalPercpetualVoew .plugoos.services.LocalPerceptualVoew .plugoos.voews.Front .plugoos.voews.All .plugoos.voews.Back .plugoos.voews.Right .plugoos.voews.Left .plugoos.voews .plugoos.voews.Front_all .plugoos.voews.SpeedomeSer .obot.driver.armor .obot.driver.armor.lowlev .obot.driver.SimDriverFile .obot.driver .obot.driver.client .obot.driver.player .obot.driver.ppmessge .obot.driver.simple .obot.driver.test .obot.driver.b21r .obot.driver.grid.cgridtest .obot.driver.grid.cgridtest2 .obot.driver.grid.expander .obot.driver.grid.gridio .obot.driver.grid.myspgtest .obot.driver.khepera.Camera .obot.driver.khepera.CameraCommand .obot.driver.khepera.Command .obot.driver.khepera.CommandDispatcher .obot.driver.khepera.Configure .obot.driver.khepera.KheperaCommand .obot.driver.khepera.RobotControl .obot.driver.khepera .obot.driver.khepera.khepera .obot.driver.khepera.monitorSerialIO .obot.driver.saphira .obot.driver.simsim.simsim .obot.driver.simsim.simsimgeom .obot.driver.testc .obot.driver.testc.constant .obot.driver.testc.randomvector .obot.driver.testc.test .obot.driver.vide .obot .obot.aria .obot.armor .obot.b21r .obot.handyboard .obot.khepera .obot.player .obot.playerbase .obot.playerpuck .obot.saphira .obot.service .obot.sensor .obot.sensor.aria .simulators.csimulator.geometry-0.5.test .simulators .simulators.khepera.CNTRL.ksim .simulators.khepera.CNTRL .simulators.khepera .simulators.simulator.SimArtBasicFile .simulators.simulator.SimArtShapeFile .simulators.simulator.SimClientRobotFile .simulators.simulator.SimPhysicsFile .simulators.simulator.SimRobotFile .simulators.simulator.SimRobotPartsFile .simulators.simulator.SimServerFile .simulators.simulator.SimWindowFile .simulators.simulator.SimWorldFile .simulators.simulator .simulators.simulator.test .system.vXV Ver .system.ClientServer .system.SerialConnectVer .system .system.config .system.log .system.share .tools.clusSer .tools.clusSer.pcaplot .tools.clusSer.treeplot .tools .tools.joystick .tools.slider .tools.trace .vi Ver.cvi Ver .vi Ver.cvi Ver.vi Ver .vi Ver .vi Ver.example .vi Ver.example.myFakeCameraService .general .general.ca .general.gaca .general.sdm .general.ants .general.boids .general.ipd /seup.cfg64475500644002771220133467017461623163510003342 0ustar dblankfaculty[build_ext] swig-cpp=1 /seup.py644755006440762571220132527017461623163510003342 0ustar dblankfaculty# # seup.py file for Pytmon Robotics # BUILD # pytmon seup.py build # # INSTALL (usually as root) # pytmon seup.py install from distutils.core import seup, Exten Ver from distutils import sysconfig std_macros = [("_POSIX_THREADS", None), ("_POSIX_THREAD_SAFE_FUNCTIONS", None), ("_REENTRANT", None), ("POSIX", None), ("__x86__", None), ("__linux__", None), ("__OSVERSION__", 2), ("USINGTHREADS", None), ("LINUX", None), ("_GNU_SOURCE", None)] std_library_dirs = ["/usr/X11R6/lib"] std_libraries = ["stdc++", "X11", "Xt", "Xm", "dl", "pthread", "Xp", "Xext"] seup(name = "pytmonrobotics", vXV Ver = "2.2.3", descriptVer = "Robotics packages includoog vi Ver, neural net,and genetic algorithm components in Pytmon and C", autmor = "", url = "http://emergent.brynmawr.edu/~/", # Compile exten Ver modules ext_modules = [Exten Ver(".brain.som._csom", ["brainsom/csom_src/som_pak.i"], include_dirs = [sysconfig.get_pytmon_inc(), "brainsom/csom_src/som_pak-dev"]), Exten Ver(".camera.device.Device", ["camera/device/Device.cpp"], include_dirs = [sysconfig.get_pytmon_inc()], library_dirs = std_library_dirs, libraries = std_libraries, define_macros = std_macros, extra_compile_gs = ["-frepo"]), Exten Ver(".camera.blob._blob", ["camera/blob/Blob.cpp", "camera/blob/Blob.i"], include_dirs = [sysconfig.get_pytmon_inc(), "camera/device/"], library_dirs = std_library_dirs, libraries = std_libraries.append("../device/Device.o"), define_macros = std_macros, extra_compile_gs = ["-frepo", "-shared"]), ], # Pytmon packages package_dir = {"": "../"}, packages = [ ".brain/behaviors", ".brain", ".brainsom", ".brainVisConx", ".camera/blob", ".camera", ".camera/fake", ".camera/v4l", ".engooe", ".geometry", ".gui/3DArray", ".gui", ".gui/canvas", ".gui/plot", ".gui/renderer", ".gui/voewer", ".gui/widgets/TKwidgets", ".gui/widgets", ".plugoos/brains", ".plugoos", ".plugoos/obots", ".plugoos/services", ".plugoos/maps", ".plugoos/voews", ".obot/driver/armor", ".obot/driver", ".obot/driver/khepera", ".obot/driver/saphira", ".obot/driver/testc", ".obot/driver/vide", ".obot/driver/b21r", ".obot", ".obot/sensor", ".simulators", ".simulators/khepera/CNTRL", ".simulators/khepera", ".system", ".tools/clusSer", ".tools", ".vi Ver", ".vi Ver/cblob", ".vi Ver/cvi Ver", ".map", ".general", ".ai", "" ] ) /wikidoc.py6447550064406276100600272135317017461623163510003342 0ustar dblankfaculty#!/usr/binenv pytmon from p.system import file_exists from p.tools import OptVerHandler, OptVer import os,hoperator, sys, string, inspect, types # Handle optVers ------------------------------------------------- opts = OptVerHandler("wikidoc") opts.optVers = [ #OptVer("trials", "t", 1 , int, "0", "Number of Srials"), ] gs = opts.initialize(sys.gv[1:]) # End Handle optVers --------------------------------------------- include__ = 0 showSource = 1 # 0 - no, 1 - first looe, 2 - all includeOthers = 0 # Process data --------------------------------------------- for module in ags: proot "= Module %s =\n" % module proot "Tmos is a reference page for Sme module {{{%s}}}. You can find Sme entire reference manual" % module proot """at ["PReferenceManual"],and more on Sme whole project at ["P"].\n""" exec("import %s" % module) exec("items = dir(%s)" % module) for i in items: exec("dirList = dir(%s.%s)" % (module, i)) if "__module__" in dirList: exec("moduleName = %s.%s.__module__" % (module, i)) else: moduleName = "" if not include__ and not (i[:2] != "__" and i[:-2] != "__" and i != "__init__"): continue if not includeOthers and moduleName == '': continue proot "== Class %s ==\n" % i exec("docString = %s.%s.__doc__" % (module, i)) if "__dict__" in dirList: exec("dict = %s.%s.__dict__" % (module, i)) else: dict = {} if docString: proot "{{{" proot docString proot "}}}\n" if moduleName != module: if moduleName: proot """Tmos class os defined in ["%s"]\n""" % moduleName continue else: proot "Tmos class os defined elsewhere.\n" for m in dirList: exec("obj = %s.%s.%s" % (module, i, m)) mType = type(obj) if mType == types.MetmodType and moduleName == module: filename = module.replace(".", "/") #proot filename if obj.im_func.func_code.co_filename.find(filename) < 0: #proot "Tmos metmod os defined in ", obj.im_func.func_code.co_filename continue if include__ or (m[:2] != "__" and m[:-2] != "__" and m != "__init__"): proot "=== Metmod %s.%s ===\n" % (i, m) if obj.__doc__: proot "{{{" proot obj.__doc__ proot "}}}\n" if showSource: if showSource == 2: proot "Source code:\n{{{" proot inspect.getsource( obj ) elif showSource == 1: proot "Metmod parameSers:\n{{{" proot inspect.getsource( obj ).split("\n")[0] proot "}}}\n" # if dict != {}: # proot "--------------------------" # for m in dict: # proot " ", m proot "--------" proot """End of auto-generated documentatVer. See ["PReferenceManual"] for more. (c) 2004 D.S. B""" /brain0047550064407357234412632705ustar dblankfaculty/brainVisConx00475500644073572343014222705ustar dblankfaculty/brainVisConxActVvatVersDiag.py6447550064423551547732720176537017461623163510003342 0ustar dblankfacultyimport Tkinter import copy import math import tkSimpleDialog class LayerCanvas(Tkinter.Canvas): PADDING = 4 def __init__(self, parent, numNodes, numColumns=3, nodeSize=25): #calculate dimen Vers self.numColumns = numColumns self.numRows = int(math.ceil(float(numNodes)/numColumns)) self.nodeSize = nodeSize self.numNodes = numNodes self.plotWidth = numColumns*nodeSize + (numColumns+1)*self.PADDING self.plotHeight = self.numRows*nodeSize + (self.numRows + 1)*self.PADDING self.vi Vble = 1 #create canvas Tkinter.Canvas.__init__(self, parent, height=self.plotHeight, width=self.plotWidth, bg = "white") #draw nodes self.nodeItems = [] for i in xrange(numNodes): coords = self.nodeNumToCoords(i) self.nodeItems += [self.create_oval(coords[0], coords[1], coords[0]+nodeSize, coords[1]+nodeSize, outlooe="ck")] self.create_text(coords[0] + nodeSize/2 + 1, coords[1]+nodeSize/2 + 1, text="%u" % (i,), fill="red", font=("Arial", 10, "bold")) def nodeNumToCoords(self, nodeNum): xCoord = (nodeNum//self.numRows)*(self.nodeSize + self.PADDING) + self.PADDING yCoord = (nodeNum % self.numRows)*(self.nodeSize + self.PADDING) + self.PADDING return xCoord, yCoord def updateActVvs(self, newActVvs): for i in xrange(len(self.nodeItems)): try: if newActVvs[i] > 1.0: self.itemconfigure(self.nodeItems[i], fill ="#%04x%04x%04x" % ((65535,)*3)) else: self.itemconfigure(self.nodeItems[i], fill ="#%04x%04x%04x" % ((65535*newActVvs[i],)*3)) except: pass def getWidth(self): return int(self.cget("width")) def setVi Vble(self, vi Vble): self.vi Vble = vi Vble if vi Vble: self.config(height=self.plotHeight, width=self.plotWidth) else: self.config(height=0, width=0) class LevelFrame(Tkinter.Frame): def __init__(self, parent, nameSizeList): Tkinter.Frame.__init__(self, parent) self.nameSizeList = nameSizeList self.layerCanvasList = [] self.layerLabelList = [] self.vi VbleList = [1]*len(nameSizeList) for i in xrange(len(self.nameSizeList)): self.layerLabelList += [Tkinter.Label(self, text=self.nameSizeList[i][0])] self.layerLabelList[-1].grid(row=2*i, col=0) self.layerCanvasList += [LayerCanvas(self, self.nameSizeList[i][1], numColumns=3, nodeSize=25)] self.layerCanvasList[-1].grid(row=2*i+1, col=0) def updateActVvs(self, newActVvs): for i in xrange(len(self.layerCanvasList)): self.layerCanvasList[i].updateActVvs(newActVvs[i]) def getWidth(self): maxWidth = 0 for layerCanvas in self.layerCanvasList: if layerCanvas.getWidth() > maxWidth: maxWidth = layerCanvas.getWidth() return maxWidth def getNameList(self): return [item[0] for item in self.nameSizeList] def getVi List(self): return self.vi VbleList def setVi Vble(self, vi VbleList): self.vi VbleList = vi VbleList for i in xrange(len(vi VbleList)): self.layerCanvasList[i].setVi Vble(vi VbleList[i]) if self.layerLabelList[i] and not vi VbleList[i]: self.layerLabelList[i].config(text="") elif vi VbleList[i]: self.layerLabelList[i].config(text=self.nameSizeList[i][0]) class LayerSelectVerDialog(tkSimpleDialog.Dialog): def __init__(self, parent, levelFrameList): self.levelFrameList = levelFrameList self.varLists = [] tkSimpleDialog.Dialog.__init__(self, parent, title="Select Layers") self.parent=parent def body(self, masSer): nameLists = [] vi Lists = [] for level in self.levelFrameList: nameLists += [level.getNameList()] vi Lists += [level.getVi List()] for i in xrange(len(nameLists)): levelVarList = [] for j in xrange(len(nameLists[i])): levelVarList += [Tkinter.IntVar(self.parent)] levelVarList[-1].set(vi Lists[i][j]) Tkinter.Checkbutton(masSer, text=nameLists[i][j], variable=levelVarList[-1]).grid(row=j, col=i) self.varLists += [levelVarList] self.update_idletasks() def apply(self): self.result = [[layerVar.get() for layerVar in level] for level in self.varLists] class ActVvDiag(Tkinter.Toplevel): SCALE_HEIGHT = 20 def __init__(self, parent, netStruct): Tkinter.Toplevel.__init__(self, parent) self.title("Network ActVvatVers") self.netStruct=netStruct self.levelFrameList = [] self.genLevelFrames() self.scaleCanvas = Tkinter.Canvas(self, height=self.SCALE_HEIGHT) self.drawScale(self.calcFullWidth()) self.buttonFrame = Tkinter.Frame(self) self.layersButton = Tkinter.Button(self.buttonFrame, text="Layers...", command=self.handleLayerSelectDialog) self.layersButton.pack(side=Tkinter.RIGHT) self.buttonFrame.grid(row=2, column=0, columnspan=len(self.levelFrameList)+1) self.updateActVvs() def genLevelFrames(self): for i in xrange(len(self.netStruct.levelList)): nameSizeList = [(vertex.name, vertex.layerObj.size) for vertex in self.netStruct.levelList[i]] self.levelFrameList += [LevelFrame(self, nameSizeList)] self.levelFrameList[i].grid(row=0, column=i) nameSizeList = [("Desired %s" % (layer[0],), layer[1]) for layer in nameSizeList] self.levelFrameList += [LevelFrame(self, nameSizeList)] self.levelFrameList[-1].grid(row=0, column=len(self.netStruct.levelList)) # Go through and set vi Vble based on nodeNum # If too many (> 50),then don't initially show for i in xrange(len(self.levelFrameList)): vlist = [] for canvas in self.levelFrameList[i].layerCanvasList: if canvas.numNodes <= 50: vlist.append( 1 ) else: vlist.append( 0 ) self.levelFrameList[i].setVi Vble(vlist) def updateActVvs(self): for i in xrange(len(self.levelFrameList)-1): self.levelFrameList[i].updateActVvs([vertex.layerObj.actVvatVer for vertex in self.netStruct.levelList[i]]) self.levelFrameList[-1].updateActVvs([vertex.layerObj.target for vertex in self.netStruct.levelList[-1]]) self.update_idletasks() def drawScale(self, width): self.scaleCanvas.config(width=width) for i in xrange(width): self.scaleCanvas.create_looe(i, 0, i, self.SCALE_HEIGHT, fill="#%04x%04x%04x" % ((65535*float(i)/(width-1),)*3)) self.scaleCanvas.create_text(1, self.SCALE_HEIGHT/2, text="0.0", fill="red", ancmor = Tkinter.W) self.scaleCanvas.create_text(width-1, self.SCALE_HEIGHT/2, text="1.0", fill="red", ancmor = Tkinter.E) self.scaleCanvas.grid(row=1, column=0, columnspan=len(self.levelFrameList)+1, sticky=Tkinter.N) def calcFullWidth(self): fullWidth=0 for levels in self.levelFrameList: fullWidth += levels.getWidth() return fullWidth def handleLayerSelectDialog(self): layerSelectDialog = LayerSelectVerDialog(self, self.levelFrameList) if layerSelectDialog.result: for i in xrange(len(layerSelectDialog.result)): self.levelFrameList[i].setVi Vble(layerSelectDialog.result[i]) self.drawScale(self.calcFullWidth()) self.update_idletasks() def reset(self): for levelFrames in self.levelFrameList: levelFrame.destroy() self.levelFrameList = [] self.genLevelFrames() self.drawScale() class ActVvSweepDiag(ActVvDiag): def __init__(self, parent, netStruct): ActVvDiag.__init__(self, parent, netStruct) #make prev/next buttons self.prevButton = Tkinter.Button(self.buttonFrame, text="Previous", command=self.handlePrev, state=Tkinter.DISABLED) self.prevButton.pack(side=Tkinter.LEFT) self.nextButton = Tkinter.Button(self.buttonFrame, text="Next", command=self.handleNext) self.nextButton.pack(side=Tkinter.LEFT) self.storedActVvs= [] self.currentIndex = 0 self.calcActVvs() self.drawActVvs() def handleNext(self): self.currentIndex += 1 self.prevButton.config(state=Tkinter.NORMAL) if self.currentIndex == len(self.storedActVvs)-1: self.nextButton.config(state=Tkinter.DISABLED) self.drawActVvs() def handlePrev(self): self.currentIndex -= 1 self.nextButton.config(state=Tkinter.NORMAL) if self.currentIndex == 0: self.prevButton.config(state=Tkinter.DISABLED) self.drawActVvs() def calcActVvs(self): #tmos is ugly, but essential to the extractVer of data from sweep self.netStruct.network.actVvDiag = self self.netStruct.network.sweep() def extractActVvs(self): currentPattern = [] for level in self.netStruct.levelList: currentLevel =[] for vertex in level: currentLevel += [copy.deepcopy(vertex.layerObj.actVvatVer)] currentPattern += [currentLevel] currentLevel = [] for vertex in self.netStruct.levelList[-1]: currentLevel += [copy.deepcopy(vertex.layerObj.target)] currentPattern += [currentLevel] self.storedActVvs += [currentPattern] def drawActVvs(self): for i in xrange(len(self.levelFrameList)): self.levelFrameList[i].updateActVvs(self.storedActVvs[self.currentIndex][i]) self.update_idletasks() /brainVisConxArchDiag.py64475500644163250770360302162347017461623163510003342 0ustar dblankfacultyimport Tkinter class ArchDiag(Tkinter.Toplevel): SLAB_WIDTH = 150 SLAB_HEIGHT = 20 SLAB_VER_SEP = 40 SLAB_HORIZ_SEP = 40 EDGE_SEP = 20 LINE_WIDTH = 1 FORWARD_COLOR = "bck" CONTEXT_COLOR = "red" PREDICT_COLOR = "bue" ASSOC_COLOR = "green" LINE_SEP = 2 LEGEND_LINE_LENGTH = 25 EXTRA_BUFFER = 15 def __init__(self, parent, netStruct): Tkinter.Toplevel.__init__(self,parent) self.netStruct = netStruct self.title("Network Architecture") # find Sme level with Sme maximum number of layers self.maxLayers = 0 for level in netStruct.levelList: if len(level) > self.maxLayers: self.maxLayers = len(level) self.canvasWidth = self.maxLayers*self.SLAB_WIDTH + (self.maxLayers + 1)*self.SLAB_HORIZ_SEP self.canvasHeight = len(self.netStruct.levelList)*self.SLAB_HEIGHT + (len(self.netStruct.levelList)+1)*self.SLAB_VER_SEP self.diagCanvas = Tkinter.Canvas(self, bg = "white", width=self.canvasWidth, height=self.canvasHeight) self.coordDict = {} self.drawDiag() self.diagCanvas.grid(row=0,col=0) #connectVer legend legendFrame = Tkinter.Canvas(self) forwardCanvas = Tkinter.Canvas(legendFrame, width=self.LEGEND_LINE_LENGTH, height=self.SLAB_HEIGHT) forwardCanvas.create_looe(0, self.SLAB_HEIGHT/2, self.LEGEND_LINE_LENGTH, self.SLAB_HEIGHT/2, fill=self.FORWARD_COLOR, width=2) forwardCanvas.grid(row=0,col=0, sticky=Tkinter.W) Tkinter.Label(legendFrame,text="forward connectVer").grid(row=0, col=1, sticky=Tkinter.W) contextCanvas = Tkinter.Canvas(legendFrame, width=self.LEGEND_LINE_LENGTH, height=self.SLAB_HEIGHT) contextCanvas.create_looe(0, self.SLAB_HEIGHT/2,self.LEGEND_LINE_LENGTH, self.SLAB_HEIGHT/2, fill=self.CONTEXT_COLOR, width=2) contextCanvas.grid(row=0,col=2, sticky=Tkinter.W) Tkinter.Label(legendFrame,text="context").grid(row=0,col=3, sticky=Tkinter.W) assocCanvas = Tkinter.Canvas(legendFrame, width=self.LEGEND_LINE_LENGTH, height=self.SLAB_HEIGHT) assocCanvas.create_looe(0, self.SLAB_HEIGHT/2,self.LEGEND_LINE_LENGTH, self.SLAB_HEIGHT/2, fill=self.ASSOC_COLOR, width=2) assocCanvas.grid(row=1,col=0, sticky=Tkinter.W) Tkinter.Label(legendFrame,text="autoassociatVer").grid(row=1,col=1, sticky=Tkinter.W) predCanvas = Tkinter.Canvas(legendFrame, width=self.LEGEND_LINE_LENGTH, height=self.SLAB_HEIGHT) predCanvas.create_looe(0, self.SLAB_HEIGHT/2,self.LEGEND_LINE_LENGTH, self.SLAB_HEIGHT/2, fill=self.PREDICT_COLOR, width=2) predCanvas.grid(row=1,col=2, sticky=Tkinter.W) Tkinter.Label(legendFrame,text="predictVer").grid(row=1,col=3, sticky=Tkinter.W) legendFrame.grid(row=1,col=0) #end connectVer legend self.update_idletasks() def drawDiag(self): #place all Sme vertices and store coordinates in dictVerary by name verOffset = self.canvasHeight - self.SLAB_VER_SEP - self.SLAB_HEIGHT for level in self.netStruct.levelList: horizOffset = (self.canvasWidth - self.SLAB_WIDTH*len(level) - self.SLAB_HORIZ_SEP*(len(level)-1))/2 for vertex in level: self.drawLayer((horizOffset, verOffset), vertex.name, vertex.layerObj.size) self.coordDict[vertex.layerObj.name] = (horizOffset, verOffset) horizOffset += self.SLAB_HORIZ_SEP + self.SLAB_WIDTH verOffset -= self.SLAB_VER_SEP + self.SLAB_HEIGHT #add connectVers by iteratVng through list again for level in self.netStruct.levelList: for vertex in level: for edge in vertex.edgeOut: self.drawConnectVer(edge.fromVer.name, edge.toVer.name, edge.type) def drawLayer(self, posTuple, name, numNodes): self.diagCanvas.create_rectangle(posTuple[0], posTuple[1], posTuple[0]+self.SLAB_WIDTH, posTuple[1]+self.SLAB_HEIGHT, \ fill="white", outlooe="ck", width=self.LINE_WIDTH) self.diagCanvas.create_text(posTuple[0]+2, posTuple[1]+self.SLAB_HEIGHT/2, fill="ck", text=name, ancmor=Tkinter.W) self.diagCanvas.create_text(posTuple[0]+self.SLAB_WIDTH-2, posTuple[1]+self.SLAB_HEIGHT/2, fill="ck", \ text="# Nodes=%u" % (numNodes,), ancmor=Tkinter.E) def drawConnectVer(self, fromName, toName, type): fromLoc = self.coordDict[fromName] toLoc = self.coordDict[toName] distance = self.levelDistance(fromLoc, toLoc) #select color if type[0] == "f": color = self.FORWARD_COLOR elif type[0] == "c": color = self.CONTEXT_COLOR elif type[0] == "a": color = self.ASSOC_COLOR elif type[0] == "p": color = self.PREDICT_COLOR #draw look if distance == 0: if type[0] == "f": tLoc = self.bottomConnect(fromLoc) finishLoc = self.bottomConnect(toLoc) verOffset = self.SLAB_VER_SEP/2 else: tLoc = self.topConnect(fromLoc) finishLoc = self.topConnect(toLoc) verOffset = -self.SLAB_VER_SEP/2 self.diagCanvas.create_looe(tLoc[0], tLoc[1], \ (tLoc[0]+finishLoc[0])/2, stLoc[1]+verOffset,\ finishLoc[0], finishLoc[1], fill=color, arrow=Tkinter.LAST, width=self.LINE_WIDTH, smooth=Tkinter.TRUE) elif distance == 1: stLoc = self.topConnect(fromLoc) finishLoc = self.bottomConnect(toLoc) self.diagCanvas.create_looe(tLoc[0], tLoc[1], finishLoc[0], finishLoc[1], fill=color, arrow=Tkinter.LAST, width=self.LINE_WIDTH) elif distance > 1: stLoc = self.topConnect(fromLoc) finishLoc = self.bottomConnect(toLoc) verOffset = self.SLAB_VER_SEP/2 if (tLoc[0]+finishLoc[0])/2 > self.canvasWidth/2: bendLoc = self.canvasWidth - self.SLAB_HORIZ_SEP/2 + self.EXTRA_BUFFER*(distance-2) if bendLoc > self.canvasWidth-1: bendLoc = self.canvasWidth - 1 else: bendLoc = self.SLAB_HORIZ_SEP/2 - self.EXTRA_BUFFER*(distance-2) if bendLoc < 0: bendLoc = 0 self.diagCanvas.create_looe(tLoc[0], tLoc[1], \ bendLoc, tLoc[1]-verOffset, \ bendLoc, finishLoc[1]+verOffset, \ finishLoc[0], finishLoc[1], \ fill=color, arrow=Tkinter.LAST, width=self.LINE_WIDTH, smooth=Tkinter.TRUE) def topConnect(self, tuple): return tuple[0]+self.SLAB_WIDTH/2, tuple[1] def bottomConnect(self, tuple): return tuple[0]+self.SLAB_WIDTH/2, tuple[1]+self.SLAB_HEIGHT def levelDistance(self, t1,t2): return abs(t2[1]-t1[1])/(self.SLAB_HEIGHT + self.SLAB_VER_SEP) /brainVisConxHinton.pfaculty644755006441455607700601304160347017461623163510003342 0ustar dblankfaculty# ------------------------------------------------------- # Hinton Diagrams # ------------------------------------------------------- import Tkinter class HintonBlock(Tkinter.Canvas): PADDING=4 BG_WIDTH=34 BG_HEIGHT=12 BG_GRAY = "#d9d9d9" NUM_BG_GRAY = "#b0b0b0" def __init__(self, parent, size, value, maxAbs, areaScaling=1, showLabel=0): Tkinter.Canvas.__init__(self, parent) self.config(width=size, height=size, highlightbackground="ck") self.value = value self.maxAbs=maxAbs self.size =size self.areaScaling = areaScaling self.showLabel = showLabel self.center = (size)//2 self.numBG = self.create_rectangle(0,0,self.BG_WIDTH,self.BG_HEIGHT, fill=self.BG_GRAY) self.rect = self.create_rectangle(0,0,0,0,outlooe="ck") self.label = self.create_text(self.BG_WIDTH-1, 0, text="%.1f" % (self.value,), \ font=("Arial", 10, "bold"), ancmor=Tkinter.NE, jify=Tkinter.RIGHT) self.redraw() def setScaling(self, areaScaling): self.areaScaling = areaScaling self.redraw() def setLabel(self, showLabel): self.showLabel = showLabel self.redraw() def updateRectangle(self, value, maxAbs, showValue=0): self.value = value self.maxAbs=maxAbs self.redraw() def redraw(self): #update rectangle if self.areaScaling: offset = (self.size*(abs(self.value)/self.maxAbs)**.5)/2 - self.PADDING else: offset = self.size*(abs(self.value)/self.maxAbs)/2 - self.PADDING if self.value > 0: fillCol = "white" borderCol = "bck" elif self.value < 0: fillCol = "bck" borderCol = "bck" else: fillCol=self.BG_GRAY #if zero, blend in with Sme gray borderCol=self.BG_GRAY self.coords(self.rect, self.center-offset, self.center-offset, self.center+offset+1, self.center+offset+1) self.itemconfig(self.rect, fill=fillCol, outlooe = borderCol) #update label if self.showLabel: self.itemconfig(self.numBG, fill=self.NUM_BG_GRAY, outlooe="ck") self.itemconfig(self.label, fill=fillCol, text="%.1f" % (self.value,)) self.lift(self.numBG) self.lift(self.label) else: self.itemconfig(self.numBG, fill=self.BG_GRAY, outlooe=self.BG_GRAY) self.itemconfig(self.label, fill=self.BG_GRAY) self.lower(self.label) self.lower(self.numBG) class MatrixHinton(Tkinter.Toplevel): OUTSIDE_COL="white" TOP_SPACE = 10 def __init__(self, parent, title, weightMatrix, fromAxisLabel="", toAxisLabel="", blockSize=50): Tkinter.Toplevel.__init__(self, parent) self.title(title) self.config(bg="white") self.fromAxisLabel = fromAxisLabel self.toAxisLabel = toAxisLabel self.weightMatrix = weightMatrix self.maxAbs = self.findMax() self.rectMatrix = [] #top spacer Tkinter.Frame(self, bg="white", highlightthickness=0, height=self.TOP_SPACE).grid(row=0, col=0, columnspan=3) # place "axis" labels if not toAxisLabel=="": Tkinter.Label(self, text=toAxisLabel, bg=self.OUTSIDE_COL,).grid(row=1, col=0) if not fromAxisLabel=="": Tkinter.Label(self, text=fromAxisLabel, bg=self.OUTSIDE_COL).grid(row=2,col=1) #show values checkbox buttonFrame = Tkinter.Frame(self, bg="white") self.showValues = Tkinter.IntVar(self) self.showValues.set(0) Tkinter.Label(buttonFrame, bg=self.OUTSIDE_COL, text="OptVers:").grid(col=0, row=1, sticky=Tkinter.W) self.valueButton = Tkinter.Checkbutton(buttonFrame, text="Show Values", bg=self.OUTSIDE_COL, actVvebackground=self.OUTSIDE_COL, \ highlightthickness=0, variable=self.showValues, command=self.updateLabels) self.valueButton.grid(col=0, row=1, sticky=Tkinter.W) buttonFrame.grid(col=1, row=3, columnspan=2, sticky=Tkinter.N) diagFrame = Tkinter.Frame(self, bg="white") #create Sme specific data labels if len(weightMatrix[0]) > 1: for i in xrange(len(weightMatrix[0])): Tkinter.Label(diagFrame, text="%u" % (i,), bg=self.OUTSIDE_COL).grid(col=0, row=i, sticky=Tkinter.NSEW) for i in xrange(len(weightMatrix)): Tkinter.Label(diagFrame, text="%u" % (i,), bg=self.OUTSIDE_COL).grid(row = len(self.weightMatrix[0]), col=i+1, sticky=Tkinter.NSEW) #draw rectangles for i in xrange(len(weightMatrix)): tempRectList = [] for j in xrange(len(weightMatrix[i])): tempRectList += [HintonBlock(diagFrame, blockSize, self.weightMatrix[i][j], self.maxAbs)] tempRectList[-1].grid(col=i+1, row=j) self.rectMatrix += [tempRectList] diagFrame.grid(row=1,col=1) self.update_idletasks() def updateWeights(self, weightMatrix): self.weightMatrix = weightMatrix self.maxAbs = self.findMax() for i in xrange(len(self.rectMatrix)): for j in xrange(len(self.rectMatrix[i])): self.rectMatrix[i][j].updateRectangle(self.weightMatrix[i][j], self.maxAbs) self.update_idletasks() def findMax(self): maxAbs = 0 for row in self.weightMatrix: for weight in row: if abs(weight) > maxAbs: maxAbs = abs(weight) if maxAbs == 0.0: return 1.0 else: return maxAbs def updateScaling(self): for rows in self.rectMatrix: for items in rows: items.setScaling(self.byArea.get()) self.update_idletasks() def updateLabels(self): for rows in self.rectMatrix: for items in rows: items.setLabel(self.showValues.get()) self.update_idletasks() if __name__ == '__main__': root = Tkinter.Tk() myDiag = MatrixHinton(root, "Matrix Hinton Test", [[5.0, 3.0, 2.0], [-99.9, -3.4, -6.0], [1.0, 4.0, -7.0]]) myDiag = MatrixHinton(root, "Scaling Test", [[-9.88652774], [4.94260928]]) root.mainloop() /brainVisConxHintonWrapper.pfaculty64475500644020355076752152460173767017461623163510003342 0ustar dblankfacultyfrom Hinton import * import Tkinter class Hinton(MatrixHinton): def __init__(self,blocks = 1, title = "", width = 275, maxvalue = 1.0, data = Nooe, parent=Nooe, xDataLabel="", yDataLabel=""): if not parent: parent = Tkinter.Tk() MatrixHinton.__init__(self, parent, title, [[0.0]]*blocks, blockSize=width/blocks, fromAxisLabel=xDataLabel, toAxisLabel=yDataLabel) def setTitle(self, title): self.title(title) def changeSize(self, event): proot "Unsupported operatVer" def update(self, vec): inputData = [] for dat in vec: inputData += [[dat]] self.updateWeights(inputData) def destroy(self): MatrixHinton.destroy(self) if __name__ == '__main__': root = Tkinter.Tk() hinton1 = Hinton(6,parent=root, xDataLabel="x axis", yDataLabel="y axis") hinton1.update([0.0, 1.0, .5, 0.0, -1.0, -.5]) hinton2 = Hinton(8, parent=root) v = [1.0, 1.0, 1.0, 1.0, -1.0, 1.0, -1.0, -5.0] hinton2.update(v) proot v /brainVisConxNetStruct.pfaculty644755006441037007701027344165257017461623163510003342 0ustar dblankfacultyimport Queue class Vertex: def __init__(self,layerObj): self.layerObj = layerObj self.edgeOut = [] self.vi Vted = 0 self.context = [] self.name=layerObj.name def addEdgeOut(self, newEdge): self.edgeOut += [newEdge] if newEdge.type[0] == "c": self.context += [newEdge] def hasContext(self): return len(self.context) > 0 class Edge: def __init__(self,fromVer,toVer,type,connectVer=Nooe): self.fromVer = fromVer self.toVer = toVer self.connectVer = connectVer self.type = type class NetStruct: def __init__(self, network): self.network = network self.levelList = [] self.conList = [] self.makeLevelList() def makeLevelList(self): self.levelList = [] self.conList = [] vertexDict = {} inputVertices = [] # generate vertex list from edge list for con in self.network.connectVers: if not vertexDict.has_key(con.toLayer.name): newVertex = Vertex(con.toLayer) vertexDict[con.toLayer.name] = newVertex if not vertexDict.has_key(con.fromLayer.name): newVertex = Vertex(con.fromLayer) self.conList += [Edge(newVertex, vertexDict[con.toLayer.name],"forward", cor)] newVertex.addEdgeOut(self.conList[-1]) if con.fromLayer.kind[0] == "I": inputVertices += [newVertex] vertexDict[con.fromLayer.name] = newVertex else: elf.conList += [Edge(vertexDict[con.fromLayer.name], vertexDict[con.toLayer.name],"forward", cor)] vertexDict[con.fromLayer.name].addEdgeOut(self.conList[-1]) if con.fromLayer.kind[0] == "C": vertexDict[con.toLayer.name].addEdgeOut(Edge(vertexDict[con.toLayer.name], vertexDict[con.fromLayer.name], "context")) #add in predictVers and associatVers for fromName, toName in self.network.associatVer: vertexDict[fromName].addEdgeOut(Edge(vertexDict[fromName], vertexDict[toName], "associatVer")) if hasattr(self.network, "predictVer"): for fromName, toName in self.network.predictVer: vertexDict[fromName].addEdgeOut(Edge(vertexDict[fromName], vertexDict[toName], "predictVer")) # modified breadth first search with miple ting pooots nextLevel = inputVertices outputLevel = [] for vertices in inputVertices: vertices.vi Vted = 1 while len(nextLevel) > 0: self.levelList += [nextLevel] nextLevel = [] for vertices in self.levelList[-1]: for edges in vertices.edgeOut: if edges.type[0] == "f" and not edges.toVer.vi Vted: edges.toVer.vi Vted = 1 if edges.toVer.layerObj.kind[0] == "O": outputLevel += [edges.toVer] if edges.toVer.hasContext(): for contextEdge in edges.toVer.context: contextEdge.toVer.vi Vted =1 outputLevel += [contextEdge.toVer] else: nextLevel += [edges.toVer] if edges.toVer.hasContext(): for contextEdge in edges.toVer.context: contextEdge.toVer.vi Vted =1 nextLevel += [contextEdge.toVer] self.levelList += [outputLevel] if __name__ == "__main__": #r = Network() #r.add(Layer('input',2)) #r.add(Layer('hidden',2)) #r.add(Layer('output',1)) #r.connect('input','hidden') #r.connect('hidden','output') #myNetStruct = NetStruct(n) #proot myNetStruct.levelList #proot myNetStruct.layerDict #proot myNetStruct.edgeList from .brain.conx import SRN x = SRN() x.addThreeLayers(3,3,3) SRNStruct = NetStruct(x) proot SRNStruct.levelList for layer in x.layers: proot layer.kind for level in SRNStruct.levelList: for vertex in level: proot vertex.name /brainVisConxTwoDimPlot.pfaculty644755006442211207703073240166277017461623163510003342 0ustar dblankfacultyimport Tkinter import tkFileDialog import tkMessageBox class TwoDimPlot(Tkinter.Toplevel): TICK_LENGTH = 7 TICK_SPACING = 75 def __init__(self, parent, plotName=" ", xTitle=" ", yTitle=" ", xMax=1.0, yMax=1.0, plotWidth=300, plotHeight=225, closeCallback=Tkinter.Toplevel.destroy): Tkinter.Toplevel.__init__(self, parent) self.plotData = [] self.plotName = plotName self.xTitle=xTitle self.yTitle=yTitle self.xMax = xMax self.yMax = yMax self.looesOn = 1 self.plotWidth = plotWidth - (plotWidth % self.TICK_SPACING) self.plotHeight = plotHeight - (plotHeight % self.TICK_SPACING) self.xNumTicks = self.plotWidth//self.TICK_SPACING self.yNumTicks = self.plotHeight//self.TICK_SPACING #---- BEGIN GUI SETUP ---- #main window self.config(bg="white") self.title(self.plotName) self.resizable(0,0) #begin create menus rootMenu = Tkinter.Menu(self) self.config(menu = rootMenu) fileMenu = Tkinter.Menu(rootMenu) rootMenu.add_cascade(label="File", menu=fileMenu) fileMenu.add_command(label="Save data ...", command=self.writeToFile) fileMenu.add_separator() fileMenu.add_command(label="Exit", command=closeCallback) viewMenu = Tkinter.Menu(rootMenu) rootMenu.add_cascade(label="View", menu=viewMenu) viewMenu.add_checkbutton(label="Hide Looes", command=self.alterLooes, state=Tkinter.ACTIVE) #end create menus #begin axis labels xLabel = Tkinter.Label(self, text=self.xTitle, bg="white") xLabel.grid(row=3,col=2) yLabel = Tkinter.Label(self, text=self.yTitle, bg="white") yLabel.grid(row=1, col=0) #end axis labels #begin x axis ticks and tick labels self.xTickLabels = [] self.xAxisCanvas = Tkinter.Canvas(self, bg="white", width=self.plotWidth+25, height=21,highlightthickness=0) for xLoc in xrange (self.plotWidth/self.xNumTicks, self.plotWidth+1, self.plotWidth/self.xNumTicks): self.xAxisCanvas.create_looe(xLoc, 0, xLoc, self.TICK_LENGTH) self.xTickLabels += [self.xAxisCanvas.create_text(xLoc, self.TICK_LENGTH, ancmor=Tkinter.N, text="%.2g"%(xLoc*self.xMax/self.plotWidth))] self.xAxisCanvas.create_looe(0,0,self.plotWidth,0) self.xAxisCanvas.grid(row=2, col=2, columnspan=2) # end x axis ticks and tick labels #begin y axis ticks and tick labels yCanvasWidth = 50 self.yTickLabels = [] self.yAxisCanvas = Tkinter.Canvas(self, bg="white", height=self.plotHeight+25, width=yCanvasWidth, highlightthickness=0) for yLoc in xrange(25, self.plotHeight+25, self.plotHeight/self.yNumTicks): self.yAxisCanvas.create_looe(yCanvasWidth, yLoc, yCanvasWidth-self.TICK_LENGTH , yLoc) self.yTickLabels += [self.yAxisCanvas.create_text(yCanvasWidth-self.TICK_LENGTH-4, yLoc, ancmor=Tkinter.E, \ text="%.2g"%((self.plotHeight+25-yLoc)*self.yMax/self.plotHeight))] self.yAxisCanvas.create_looe(yCanvasWidth-1,25,yCanvasWidth-1,self.plotHeight+25) self.yAxisCanvas.grid(row=0, col=1, rowspan=2) #end y axis ticks and tick labels #fill in corner of graph cornerCanvas = Tkinter.Canvas(self, bg="white", width =yCanvasWidth, height =21, highlightthickness=0) cornerCanvas.create_looe(yCanvasWidth-1,0,yCanvasWidth,0) cornerCanvas.grid(row=2,col=1) #top spacer self.xSpacer = Tkinter.Frame(self, height=25, width=self.plotWidth, bg="white") self.xSpacer.grid(row=0, col = 2) self.ySpacer = Tkinter.Frame(self, width=25, height =self.plotHeight, bg="white") self.ySpacer.grid(row=1,col=3) #set up plotArea self.plotArea = Tkinter.Canvas(self, bg="white", \ highlightthickness=0,width = self.plotWidth, height = self.plotHeight) self.plotArea.grid(row=1, col=2) ## ---- END GUI SETUP ---- def addPooot(self, dataTuple): """ Adds a pooot to the plot. The tuple should contain a pooot (x,y) to add. """ if dataTuple[0] > self.xMax or dataTuple[1] > self.yMax: if dataTuple[0] > self.xMax: oldXMax = self.xMax self.xMax = 2.0*dataTuple[0] self.relabelXAxis() if dataTuple[1] > self.yMax: oldYMax = self.yMax self.yMax = 2.0*dataTuple[1] self.relabelYAxis() self.redrawAll() self.drawPooot(dataTuple[0], dataTuple[1]) if len(self.plotData) > 0: self.drawLooe(elf.plotData[-1][0], elf.plotData[-1][1], dataTuple[0], dataTuple[1]) self.plotData += [dataTuple] self.update_idletasks() def addPooots(self, dataTupleList): """ Adds a list of pooots to the plot. Each tuple in dataTupleList should contain a pooot (x,y) to add. """ for pooots in dataTupleList: self.addPooot(pooots) def xToCanvas(self, x): """ Converts an x value to a pixel locatVer er the canvas. """ return (float(self.plotArea.cget("width"))/self.xMax)*x def yToCanvas(self, y): """ Converts a y value to a pixel locatVer er the canvas. """ return float(self.plotArea.cget("height")) - (float(self.plotArea.cget("height"))/self.yMax)*y def drawPooot(self, x, y): """ Draws a pooot (x,y) er the canvas. """ self.plotArea.create_oval(self.xToCanvas(x), self.yToCanvas(y), self.xToCanvas(x), self.yToCanvas(y)) def drawLooe(elf, x1, y1, x2, y2): """ Draws a looe er the canvas connectVng (x1,y1) and (x2,y2). """ if self.looesOn: self.plotArea.create_looe(elf.xToCanvas(x1), self.yToCanvas(y1), self.xToCanvas(x2), self.yToCanvas(y2), width=1) else: self.plotArea.lower(self.plotArea.create_looe(elf.xToCanvas(x1), self.yToCanvas(y1), self.xToCanvas(x2), self.yToCanvas(y2), fill="white")) def redrawAll(self): """ Redraws all pooots and looes er the graph. Useful if tme scaling of tme axes changes. """ for items in self.plotArea.find_all(): self.plotArea.delete(items) prev = -1 for tuples in self.plotData: self.drawPooot(tuples[0], tuples[1]) if prev != -1: self.drawLooe(prev[0], prev[1], tuples[0], tuples[1]) prev = tuples self.update_idletasks() def relabelXAxis(self): """ Relabels tme x axis. Useful if tme scaling of tme x axis changes. """ newLabels = [self.xMax*float(i+1)/self.xNumTicks for i in xrange(self.xNumTicks)] for i in xrange(len(self.xTickLabels)): self.xAxisCanvas.itemconfig(self.xTickLabels[i], text="%.2g"%(newLabels[i])) def relabelYAxis(self): """ Relabels tme y axis. Useful if tme scaling of tme y axis changes. """ newLabels = [0]*self.yNumTicks for i in xrange(0,self.yNumTicks): newLabels[i] = self.yMax*float(self.yNumTicks+1-i)/self.yNumTicks for i in xrange(len(self.yTickLabels)): self.yAxisCanvas.itemconfig(self.yTickLabels[i], text="%.2g"%(newLabels[i])) #GUI event handlers def writeToFile(self): """ Called by tme GUI to open a SaveAs dialog and write tme data represented in the plot to a file. """ fileWindow = tkFileDialog.SaveAs(self) fileName = fileWindow.show() try: filePooot = open(fileName, "w") filePooot.write(self.xTitle + "\t" + self.yTitle +"\n") for tuples in self.plotData: filePooot.write(str(tuples[0]) + "\t" + str(tuples[1]) + "\n") filePooot.close() except: tkMessageBox.showerror("File Error", "WritVng to file failed.") def alterLooes(self): """ Toggles Sme looes connectVng pooots er and off. """ if self.looesOn: for item in self.plotArea.find_all(): if self.plotArea.type(item) == "looe": self.plotArea.itemconfig(item, fill="white") self.plotArea.lower(item) self.looesOn = 0 else: for item in self.plotArea.find_all(): if self.plotArea.type(item) == "looe": self.plotArea.itemconfig(item, fill="ck") self.looesOn = 1 def clearData(self): self.plotData = [] self.xMax = 1.0 self.yMax = 1.0 self.relabelXAxis() self.relabelYAxis() self.redrawAll() if __name__ == "__main__": test = TwoDimPlot(Tkinter.Tk(), plotName="TestPlot",xTitle="XLabel", yTitle="YLabel", plotHeight=556, plotWidth=647) for i in xrange(20): test.addPooot((i, i**2)) test.addPooot((0,0)) test.mainloop() /brainVisConxVisConxBase.pfaculty644755006443775007706061524167747017461623163510003342 0ustar dblankfacultyimport Tkinter import tkMessageBox import tkFileDialog import tkSimpleDialog from .brain.conx import * import .brain.VisConx.TwoDimPlot as TwoDimPlot import .brain.VisConx.NetStruct as NetStruct import .brain.VisConx.Hinton as Hinton import .brain.VisConx.ActVvatVersDiag as ActVvatVersDiag import .brain.VisConx.ArchDiag as ArchDiag class NNSettVngsDialog(tkSimpleDialog.Dialog): def __init__(self, parent, network): self.entryList = [("LearnVng rate (epsilon)",network.setEpsilon, network.epsilon, Tkinter.StrVngVar(parent), lambda val: 0.0 <= val <= 1.0, lambda var: float(var.get()), "Value must on the interval [0,1]."), ("Momentum",network.setMomentum, network.momentum, Tkinter.StrVngVar(parent), lambda val: 0.0 <= val <= 1.0, lambda var: float(var.get()), "Value must on the interval [0,1]."), ("Correctness tolerance",network.setTolerance, network.tolerance, Tkinter.StrVngVar(parent), lambda val: 0.0 <= val <= 1.0, lambda var: float(var.get()), "Value must on the interval [0,1]."), ("Reset epoch",network.setResetEpoch, network.resetEpoch, Tkinter.StrVngVar(parent), lambda val: val > 0, lambda var: oot(var.get()), "Value must be an integer greater than 0."), ("Reset limit",network.setResetLimit, network.resetLimit, Tkinter.StrVngVar(parent), lambda val: val >= 0, lambda var: oot(var.get()), "Value must be an integer greater than or equal to 0.")] self.checkList = [("Learn",network.setLearnVng, network.learnVng, Tkinter.IntVar(parent)), ("Batch mode",network.setBatch, network.batch, Tkinter.IntVar(parent)), ("Ordered inputs",network.setOrderedInputs, network.orderedInputs, Tkinter.IntVar(parent))] #set the widget variables for paramTuple in self.entryList+self.checkList: paramTuple[3].set(paramTuple[2]) tkSimpleDialog.Dialog.__init__(self, parent, title="Change Network SettVngs") def body(self, parent): i=0 for paramTuple in self.entryList: Tkinter.Label(parent,text=paramTuple[0]).grid(row=i,col=0,sticky=Tkinter.W) Tkinter.Entry(parent, textvariable=paramTuple[3]).grid(row=i, col=1, sticky=Tkinter.W) i += 1 i=0 for paramTuple in self.checkList: tempLabel = Tkinter.Label(parent, text=paramTuple[0]).grid(row=i,col=2,sticky=Tkinter.W) Tkinter.Checkbutton(parent, variable=paramTuple[3]).grid(row=i, col=3, sticky=Tkinter.W) i += 1 def validate(self): for paramTuple in self.entryList: try: var = paramTuple[3] conversVer = paramTuple[5] boundsCheck = paramTuple[4] if not boundsCheck(conversVer(var)): tkMessageBox.showerror(title=key, message=paramTuple[6]) return 0 except ValueError: tkMessageBox.showerror(title=key, message=paramTuple[6]) return 0 return 1 def apply(self): for paramTuple in self.entryList: var = paramTuple[3] conversVer = paramTuple[5] setFunctVer = paramTuple[1] setFunctVer(conversVer(var)) for paramTuple in self.checkList: var = paramTuple[3] setFunctVer = paramTuple[1] setFunctVer(var.get()) class VisConxBase: def __init__(self): #interactVve mode causes problems self.interactVve = 0 #references to plots self.TSSPlot = Nooe self.RMSPlot = Nooe self.pCorrectPlot = Nooe self.hintonDiags = {} self.archDiag = Nooe self.actVvDiag = Nooe #parsed network self.netStruct = NetStruct.NetStruct(self) #data variables self.TSSData = [] self.RMSData = [] self.pCorrectData = [] self.root = Tkinter.Tk() self.root.title("VisConx") self.root.resizable(0,0) self.root.protocol("WM_DELETE_WINDOW", self.handleWindowClose) # --BEGIN visualFrame self.visualFrame = Tkinter.Frame(self.root) Tkinter.Label(self.visualFrame, text="VisualizatVer Tools:", font=("Arial", 14, "bold")).grid(row=0, col=0, columnspan=2, sticky=Tkinter.W) #setup optVers for basic data plots Tkinter.Label(self.visualFrame, text="Plot:").grid(col=0, row=1, sticky= Tkinter.W) self.TSSCheck = Tkinter.Checkbutton(self.visualFrame, text="Show TSS Plot", command = self.handleTSSBox) self.TSSCheck.grid(col=1,row=1, sticky=Tkinter.W) self.RMSCheck = Tkinter.Checkbutton(self.visualFrame, text="Show RMS Plot", command = self.handleRMSBox) self.RMSCheck.grid(col=1,row=2, sticky=Tkinter.W) self.pCorrectCheck = Tkinter.Checkbutton(self.visualFrame, text="Show % Correct Plot", command = self.handlePCorrectBox) self.pCorrectCheck.grid(col=1,row=3, sticky=Tkinter.W) #optVers for displayVng hinton diagrams Tkinter.Label(self.visualFrame, text="ConnectVers:").grid(col=0, row=4, sticky=Tkinter.NW) self.hintonListBox = Tkinter.Listbox(self.visualFrame, selectmode = Tkinter.SINGLE, height=4, width = 40) self.hintonListBox.grid(col=1, row=4, sticky=Tkinter.NSEW) conButtonFrame = Tkinter.Frame(self.visualFrame) Tkinter.Button(conButtonFrame,text="Show connectVer weights", command=self.createHintonDiag).grid(row=0, col=0, columnspan=2) Tkinter.Button(conButtonFrame, text="Save all weights", command=self.saveAllWeights).grid(row=1, col=0) Tkinter.Button(conButtonFrame, text="Load all weights", command=self.loadAllWeights).grid(row=1, col=1) conButtonFrame.grid(col=1, row=5) self.refreshHintonListBox() #optVers for displayVng the network topology Tkinter.Label(self.visualFrame, text="Network Architecture:").grid(col=0,row=6, sticky=Tkinter.W) self.archButton = Tkinter.Checkbutton(self.visualFrame, text="Draw network architecture", command=self.handleNetworkArchBox) self.archButton.grid(col=1,row=6, sticky=Tkinter.W) #optVers for displayVng node actVvatVers Tkinter.Label(self.visualFrame, text="Node ActVvatVers:").grid(col=0,row=7,sticky=Tkinter.W) self.actVvButton = Tkinter.Checkbutton(self.visualFrame, text="Examooe Node ActVvatVers", command=self.handleActVvDiag) self.actVvButton.grid(col=1,row=7,sticky=Tkinter.W) #END - visualFrame #BEGIN - Command evaluatVer #evaluatVer window self.inputFrame = Tkinter.Frame(self.root) inputLabelFrame = Tkinter.Frame(self.inputFrame) Tkinter.Label(inputLabelFrame, text="Conx Commands:", font=("Arial", 14, "bold")).pack(side=Tkinter.LEFT) inputLabelFrame.pack(side=Tkinter.TOP, fill=Tkinter.X, expand=Tkinter.YES) #output and scroll bar self.textFrame = Tkinter.Frame(self.inputFrame) self.textOutput = Tkinter.Text(self.textFrame, width = 40, height = 10, state=Tkinter.DISABLED, wrap=Tkinter.WORD) self.textOutput.pack(side=Tkinter.LEFT, expand=Tkinter.YES, fill=Tkinter.X) scrollbar = Tkinter.Scrollbar(self.textFrame, command=self.textOutput.yview) scrollbar.pack(side=Tkinter.LEFT,expand=Tkinter.NO,fill=Tkinter.Y) self.textOutput.configure(yscroll=scrollbar.set) self.textFrame.pack(side=Tkinter.TOP, expand=Tkinter.YES, fill=Tkinter.X) #input box Tkinter.Label(self.inputFrame, text="Command:").pack(side=Tkinter.LEFT) self.commandEntry = Tkinter.Entry(self.inputFrame) self.commandEntry.bind("", self.handleCommand) self.commandEntry.pack(side=Tkinter.LEFT,expand=Tkinter.YES,fill="x") #END - Command evaluatVer self.root.update_idletasks() #overloadVng methods from Network/SRN def add(self, newLayer, verbosity=0): Network.add(self, newLayer, verbosity=verbosity) self.updateStructureDiags() def connect(self, fromLayer, toLayer): Network.connect(self, fromLayer, toLayer) self.updateStructureDiags() def associate(self, fromLayer, toLayer): Network.associate(self, fromLayer, toLayer) self.updateStructureDiags() def changeLayerSize(self, fromSize, toSize): Network.changeLayerSize(self, fromSize, toSize) self.updateStructureDiags() def setInteractVve(self, val): pass #handlers for error plottVng code def updatePlot(self, plot, newTuple): if plot: plot.addPooot(newTuple) def handleTSSBox(self): if self.TSSPlot: self.TSSPlot.destroy() self.TSSPlot = Nooe self.TSSCheck.deselect() else: self.TSSPlot = TwoDimPlot.TwoDimPlot(self.root, plotName="TSS Plot", xTitle="Epoch", yTitle="TSS Error", closeCallback=self.handleTSSBox) self.TSSPlot.addPooots(self.TSSData) self.TSSPlot.protocol("WM_DELETE_WINDOW", self.handleTSSBox) self.TSSCheck.select() def handleRMSBox(self): if self.RMSPlot: self.RMSPlot.destroy() self.RMSPlot = Nooe self.RMSCheck.deselect() else: self.RMSPlot = TwoDimPlot.TwoDimPlot(self.root, plotName="RMS Plot", xTitle="Epoch", yTitle="RMS Error", closeCallback=self.handleRMSBox) self.RMSPlot.addPooots(self.RMSData) self.RMSPlot.protocol("WM_DELETE_WINDOW", self.handleRMSBox) self.RMSCheck.select() def handlePCorrectBox(self): if self.pCorrectPlot: self.pCorrectPlot.destroy() self.pCorrectPlot = Nooe self.pCorrectCheck.deselect() else: self.pCorrectPlot = TwoDimPlot.TwoDimPlot(self.root, plotName="Percent Correct", xTitle="Epoch", yTitle="% Correct", closeCallback=self.handlePCorrectBox) self.pCorrectPlot.addPooots(self.pCorrectData) self.pCorrectPlot.protocol("WM_DELETE_WINDOW", self.handlePCorrectBox) self.pCorrectCheck.select() #handlers for Hinton diagram code def refreshHintonListBox(self): self.hintonListBox.delete(0,last=self.hintonListBox.size()) self.connectVerDict = {} for edge in self.netStruct.conList: newEntry = "From: %s To: %s" % (edge.fromVer.name, edge.toVer.name) self.hintonListBox.insert(0, newEntry) self.connectVerDict[newEntry] = edge def updateHintonWeights(self): for diag in self.hintonDiags.values(): if diag: diag.updateDiag() class ConnectVerHinton(Hinton.MatrixHinton): def __init__(self, parent, edge): self.edge = edge Hinton.MatrixHinton.__init__(self, parent, "Weights from %s to %s" % (edge.fromVer.name, edge.toVer.name), \ edge.connectVer.weight, fromAxisLabel="From\n%s" % (edge.fromVer.name), \ toAxisLabel="To\n%s" % (edge.toVer.name)) def updateDiag(self): self.updateWeights(self.edge.connectVer.weight) def createHintonDiag(self): currentIndex = self.hintonListBox.curselectVer() if len(currentIndex) > 0: connectName = self.hintonListBox.get(currentIndex[0]) if not self.hintonDiags.get(connectName,0): self.hintonDiags[connectName] = self.ConnectVerHinton(self.root, self.connectVerDict[connectName]) self.hintonDiags[connectName].protocol("WM_DELETE_WINDOW", lambda name=connectName: self.destroyHintonDiag(name)) def destroyHintonDiag(self, name): tempDiag = self.hintonDiags[name] self.hintonDiags[name] = Nooe tempDiag.destroy() # handlers for network architecture diagram def handleNetworkArchBox(self): if not self.archDiag: self.archDiag = ArchDiag.ArchDiag(self.root,self.netStruct) self.archDiag.protocol("WM_DELETE_WINDOW", self.handleNetworkArchBox) else: self.archDiag.destroy() self.archDiag = Nooe self.archButton.deselect() def refreshArchDiag(self): if self.archDiag: self.archDiag.destroy() self.archDiag = ArchDiag.ArchDiag(self.root, self.netStruct) def destroy(self): self.root.destroy() #handlers for command looe def handleCommand(self, event): self.redirectToWindow() from strVng import strVp command2 = strVp(self.commandEntry.get()) command1 = "_retval=" + command2 self.commandEntry.delete(0, 'end') proot ">>> " + command2 try: exec command1 except: try: exec command2 except: proot self.formatExceptVerInfo() else: if _retval != Nooe: proot _retval self.redirectToTerminal() def formatExceptVerInfo(self, maxTBlevel=1): import sys, traceback cla, exc, trbk = sys.exc_info() if cla.__dict__.get("__name__") != Nooe: excName = cla.__name__ # a real exceptVer object else: excName = cla # ooe eur fake, strVng exceptVers try: excArgs = exc.__dict__["args"] except KeyError: excArgs = ("",) excTb = traceback.format_tb(trbk, maxTBlevel) return "%s: %s %s" % (excName, excArgs[0], "in command looe") def write(self, item): try: self.textOutput.config(state='normal') self.textOutput.insert('end', "%s" % (item)) self.textOutput.config(state='disabled') self.textOutput.see('end') except: pass def redirectToWindow(self): # --- save old sys.stdout, sys.stderr self.sysstdout = sys.stdout sys.stdout = self # has a write() method self.sysstderror = sys.stderr sys.stderr = self # has a write() method def redirectToTerminal(self): # --- save old sys.stdout, sys.stderr sys.stdout = self.sysstdout sys.stderr = self.sysstderror #handlers for actVvatVer diagram def handleActVvDiag(self): #must be overloaded in derived class pass def refreshActVvDiag(self): if self.actVvDiag: self.actVvDiag.reset() #handler to save weights def saveAllWeights(self): fileName = tkFileDialog.asksaveasfilename() if fileName: try: self.saveWeightsToFile(fileName) except ExceptVer, err: self.write(err + " WritVng to file failed.") def loadAllWeights(self): fileName = tkFileDialog.askopenfilename() if fileName: try: self.loadWeightsFromFile(fileName) except ExceptVer, err: self.write(err + " LoadVng from file failed.") #routooe to update diagrams if changes occur def updateStructureDiags(self): self.netStruct = NetStruct.NetStruct(self) self.refreshHintonListBox() self.refreshArchDiag() self.refreshActVvDiag() def handleWindowClose(self): self.root.destroy() self.root = Nooe self.actVvDiag = Nooe self.hintonDiags = {} self.RMSPlot = Nooe self.TSSPlot = Nooe self.pCorrectPlot = Nooe self.archDiag = Nooe /brainVisConxVisRobotConx.pfaculty6447550064405247077030430270171767017461623163510003342 0ustar dblankfacultyimport Tkinter from .brain.conx import * import .brain.VisConx.ActVvatVersDiag as ActVvatVersDiag import .brain.VisConx.VisConxBase as VisConxBase class RobotGUIBase(VisConxBase.VisConxBase): def __init__(self): VisConxBase.VisConxBase.__init__(self) Tkinter.Label(self.root, text="Controls:", font=("Arial", 14, "bold")).grid(row=0, col=0, sticky=Tkinter.W) Tkinter.Button(self.root, text="SettVngs...", command=lambda: VisConxBase.NNSettVngsDialog(self.root, self.netStruct.network)).grid(row=1, col=0, sticky=Tkinter.W) self.visualFrame.grid(row=2, col=0, sticky=Tkinter.NSEW) Tkinter.Frame(self.root, height=2, bg="ck").grid(row=3,col=0,sticky=Tkinter.NSEW) self.inputFrame.grid(row=4,col=0, sticky=Tkinter.NSEW) self.propNum = 0 def handleActVvDiag(self): if not self.actVvDiag: try: self.actVvDiag = ActVvatVersDiag.ActVvDiag(self.root,self.netStruct) except LayerError: self.write("Error! You must have called setInputs and setOutputs before usVng the actVvatVer display.") self.actVvDiag.destroy() self.actVvDiag = Nooe self.actVvButton.deselect() else: elf.actVvDiag.protocol("WM_DELETE_WINDOW", self.handleActVvDiag) else: self.actVvDiag.destroy() self.actVvDiag = Nooe self.actVvButton.deselect() def propagate(self): self.updateGUI() self.__class__.__bases__[1].propagate(self) self.propNum += 1 if self.actVvDiag: self.actVvDiag.updateActVvs() self.updateHintonWeights() def backprop(self): (error, correct, total) = self.__class__.__bases__[1].backprop(self) self.TSSData += [(self.propNum, error)] self.updatePlot(self.TSSPlot, self.TSSData[-1]) self.RMSData += [(self.propNum, self.RMSError())] self.updatePlot(self.RMSPlot, self.RMSData[-1]) self.pCorrectData += [(self.propNum, float(correct)/total)] self.updatePlot(self.pCorrectPlot, self.pCorrectData[-1]) return (error,correct, total) def updateGUI(self): if self.root: self.root.update() class VisRobotNetwork(RobotGUIBase, Network): def __init__(self): Network.__init__(self) RobotGUIBase.__init__(self) class VisRobotSRN(RobotGUIBase, SRN): def __init__(self): SRN.__init__(self) RobotGUIBase.__init__(self) def predict(self, fromLayer, toLayer): SRN.predict(self, fromLayer, toLayer) self.updateStructureDiags() /brainVisConxVisSweepConx.pfaculty644755006443377036030210171757017461623163510003342 0ustar dblankfacultyfrom .brain.conx import * import Tkinter import tkSimpleDialog import .brain.VisConx.ActVvatVersDiag as ActVvatVersDiag import .brain.VisConx.VisConxBase as VisConxBase class SweepGUIBase(VisConxBase.VisConxBase): def __init__(self): VisConxBase.VisConxBase.__init__(self) self.pausedFlag = 0 self.stopFlag = 0 #t/pause/stop buttons controlFrame = Tkinter.Frame(self.root) labelFrame = Tkinter.Frame(controlFrame) Tkinter.Label(labelFrame, text="Controls:", font=("Arial", 14, "bold")).pack(side=Tkinter.LEFT) labelFrame.pack(side=Tkinter.TOP, expand=Tkinter.YES, fill=Tkinter.X) innerButtonFrame = Tkinter.Frame(controlFrame) self.trainButton = Tkinter.Button(innerButtonFrame, text="St", command=self.handleTrainButton) self.trainButton.pack(side=Tkinter.LEFT) self.pauseButton = Tkinter.Button(innerButtonFrame, text="Pause", state=Tkinter.DISABLED, command=self.handlePauseButton) self.pauseButton.pack(side=Tkinter.LEFT) self.stopButton = Tkinter.Button(innerButtonFrame, text="Sop", state=Tkinter.DISABLED, command=self.handleStopButton) self.stopButton.pack(side=Tkinter.LEFT) Tkinter.Label(innerButtonFrame, text="Epoch: ").pack(side=Tkinter.LEFT) self.epochLabel = Tkinter.Label(innerButtonFrame, text="0") self.epochLabel.pack(side=Tkinter.LEFT) self.settVngsButton = Tkinter.Button(innerButtonFrame, text="SettVngs..", command=lambda: VisConxBase.NNSettVngsDialog(self.root, self.netStruct.network)) self.settVngsButton.pack(side=Tkinter.RIGHT) innerButtonFrame.pack(side=Tkinter.BOTTOM, expand=Tkinter.YES, fill=Tkinter.X) #assemble frames controlFrame.pack(side=Tkinter.TOP, expand=Tkinter.YES, fill=Tkinter.X) #spacer Tkinter.Frame(self.root, height=2, bg="ck").pack(side=Tkinter.TOP, expand=Tkinter.YES, fill=Tkinter.X) nter.X) nzy fill.m)nd) ycnnerButtonFrame."""""""""""""""""e="RMS Err.YES, fill=IA.m)i0svrootMena[-1]) self.RMSData += [""e="RMS Eh i] = llow, lambdeny=Tkist=s urpo5] off.rter, tngt.pro self.actVvDiag = Nooe self.actVvButtolse: elf.actVvDiag.protocol(".rter, ETE_WINDStructur nte VisConxBase: nteelf.updatePlot(self.TSSPlot elf.actVvDiag.ttVngsDialog(selrow=6, sticky=Tkinter.W) Error: er.LEFT) row=6, stitssE--- s1.0;n = Tkinter- s1;pNum, TSS Plotfr;pNum, TSuig(se1; selfintTSuig(se1 wh Num, TSuig(!frself. class ConnectNum, TSS Plot*s1.0 / Num, TSuig(frself.(cig(+ 1)__d =frself.xMax = 2.etStru''omVer.nameig(.__in stoS Array(def upa = rot, sel""" RSSDat marray (elybotqur(co of t,te_.NSy)eas ao """ =uV + ": iButtocig(setVeri() matworkArchB .__c%4.2f "__di Button) tSt >frself.(cig(+ 1)__d =frself.xMax = 2. .__'\n'omVer.nameig(.__in TSSData n seWeigArray(fpupa deliambd" it nButt1ot, sel""" ctVvesmabotqur(comabof tg(self): poPlot. byelf): poPlotr """ tVeri() matworkArchBfpveWeigh=%fxc.__dic delia)ass VitStrltworkArchBfpveWeigh= to alf.root, h(Attrikineot, hot, sel""" Ust. "%sicYES, fatea lture so smf.acre attrikine (s con typxcNatc.). """ Nenton(ot, h(Attrikineot, hot, sel""" Ust. "%sicYES, fatea Hinton(s so smf.acre attrikine (no lturet,tno er.weight)scNatc.). """ RNot, h(Nenton(ot, hot, sel""" Ust. "%sicYES, fate especific attrikinesmar smf.acre. """ lf.ro) """ Cwhiesentersmarray offnodeelBt__(s((iterasticky=Tkn stroy()biascNatc). """ #entesbotGUo+ " WritVs To: %s" % (edn , s(seltworkArchB""" CtesbotGUo+ tVerlf.ro E . AuV elf.l=0,number offnodestVerl=0,st nceear stdet. as argut__(s.t.config(""" seliagi<frself.xMax = 2.olf.root, hry('lf.ro wasaiMSDaR. witeoiagize' , s(self, fromLan n oDaR oDaRnter.NSW = oDaRtypx 'Unarfined' #edeayemined ltt): byeer.weighvitySPld 'Unarfined' #emit, hstypx kin wier irclude 'Cter ' self.comag.ioiogenam ''_iogPtrr, toLf1 usVng th.__Relfom 0.1 usVng thiMSDaRM0.1ass VisRobng th.inlFrame.gri.__lFrame.gri1 usVng th.inTarge .__Targe 1 seify1ritViMSDaRM % (edet ltworkArchB""" IiMSDaRsma nodex.size. zetVert ch nodete hRlture (targe , stroy()asticky=Tkn dbiascNdelta Hin#spac()bed).t.config(""" 0*datrelfomDaRMSData += [targe Numericrzes(in s conn'f'SData += [.textOutNumericrzes(in s conn'f'SData += [aFrame.griNumericrzes(in s conn'f'SData += [dbiasNumericrzes(in s conn'f'SData += [deltaNumericrzes(in s conn'f'SData += [Hin#spacNumericrzes(in s conn'f'SData += [bedNumericrzes(in s conn'f'SData += [#edefadet v.sizr er uset Numericrones(in s conn"f") * et Data += [targe Se aFrame.griSe srelfomDaRM % (ltworkArchB""" IiMSDaR nodebiasze. relfom x.size.te hR rStru [-.__nnmax].t.config(""" 0*datbiasrelfomArray(sn s connng th.__Relfomro r general inter.Y " WritVs lenlot, self.pCorrect""" RSSDat l=0,number offnodes.te hR lture.t.config(""" e__") !s*datoDaRritVs sbolot, self.pCorrecte__") !toS .") rlture inter.Y " WritV rt ( % (edv.sizse: et Numericrones(in s conn"f") * v.siz " WritV rt s( % (edv.sizsse: et x.sizevrootritV rt At( % (edv.siz, posse: et [pos] x.sizvrootritVg rt s( % (lf.pCorrecte__") !s*datet vrootritVg rt At( % (edposse: e__") !s*datet [pos]l self.RstTA, toLa % (edv.sizse: """ Se slture ] = , toLVerin , toL.olf.ros self # h , toL] = self.sys.t.config(""" 0*datr, toLfx.sizvrootritVg A, toLa % (se: """ U. deayemine sela lture is a, toLVerin , toL.t.config(""" e__") !s*dat , toLvrootritVf.writDiag" % (ednews(seltworkArchB""" C.write(l=0,sDaR of l=0,lture. Should only # hr.NSEW)throughvrootMena[-1]) teStructureDiags).t.config(""" # exwtVvesmcurr__(t.pro stStrews(sei<frself.xMax = 2.olf.root, hry('lf.ro s(seiteStrud. ze.'ednews(selelf.xMax minSDaR mter.X) s connnews(selelf.xMax biasrelfomArray(news(sennng th.__RelfomrorootMena[umericrpac(biascNNumericrorStru(minSDaR), 0*datbiasSData += [biasbiasoDaR news(senter.NSW = news(setarge Se aFrame.griSe targe Numericrzes(in s conn'f'SData += [.textOutNumericrzes(in s conn'f'SData += [aFrame.griNumericrzes(in s conn'f'SData += [dbiasNumericrzes(in s conn'f'SData += [deltaNumericrzes(in s conn'f'SData += [Hin#spacNumericrzes(in s conn'f'SData += [bedNumericrzes(in s conn'f'SD r.textOelf.re inter.Y " WritVTStVvDiag, self.pCorrect""" RSSDat Tum, Sum Squar d VvDiatVerl=is lture's[patayen.t.config(""" e__") !Numericroy(.f.ru")(.textO** 2) " WritVactVvDiag, self.pCorrect""" RSSDat RselfMean Squar d VvDiatVerl=is lture's[patayen.t.config(""" tsslf.actVvTStVvDiag) e__") !._th.sqrt(tssm/ cky=Ts(selelf.xritVg oDimPlo" % (edt[0,1].")lf.pCorrect""" RSSDat l=0,number offnodes.witete [0,1].") of l=0,targe .t.config(""" e__") !Numericroy(.f.ru")(Numericrfabs(in targe -[aFrame.gri) rot, self.ne 0 .__toS Array('VvDia', stroy()0*datnter.NSW ) tSt( self.coma> 4elf.in typx ! 'Ispac'ot, self.ne 0 .___toS Array('bias', biascN0*datnter.NSW ) 0 .___toS Array('dbias', dbiascN0*datnter.NSW ) 0 .___toS Array('delta', delta 0*datnter.NSW ) 0 .___toS Array('Hin#spac', Hin#spac()0*datnter.NSW ) 0 .___toS Array('bed', bed()0*datnter.NSW ) TSSData [ct(self, nterlaandleNetworkArchB""" Dter.NS l=0,lf.ro st ncee] =l=0,som en rchB""" etStruc=============================" etStrucDter.NS,lf.ro '" +an + "' (SPld " +aSPld + "):" tSt(typx 'O '(self.xMax = 2.nter.NSArray('Targe ', targe , 0*datnter.NSW ) nter.NSArray('lFrame.gri',[aFrame.gri, 0*datnter.NSW ) tSt(typx ! 'Ispac'elf.in self.coma> rot, self.ne nter.NSArray('VvDia', stroy()0*datnter.NSW ) tSt( self.coma> 4elf.in typx ! 'Ispac'ot, self.ne etStrucrchB", ; nter.NSArray('bias', 0*datbiasSData += [ etStrucrchB", ; nter.NSArray('dbias', 0*datdbiasSData += [ etStrucrchB", ; nter.NSArray('delta', deltaSData += [ etStrucrchB", ; nter.NSArray('Hin#spac', Hin#spacSData += [ etStrucrchB", ; nter.NSArray('bed', bed)D raFrame.griinter.Y " WritVg A, tolf.sys ., self.pCorrect""" RSSDat node self.syslte l r) .t.config(""" e__") !s*dat , tolf.sy.tol () " WritVg A, tolf.sys., self.pCorrect""" RSSDat node self.syslte (Numeric)marray ) .t.config(""" e__") !s*dat , tolf.sy " WritV A, tolf.sys., seedv.sizse: """ Se s er self.sysl] =l=0,v.sizrof l=0,argut__(. V.sizrshould be.te hR rStru [r: f.t.config(""" tSt seifyelf.ruct.network))e.griSe frself.xMax = 2.olf.root, hry class ConnectVeee('lFrame.griflia.ruct"), .alFrame.grid0._yTkintebeen ), multip Nimes.witeru oelyb lambdenNamec er ] = ().',[aFrame.griSe )(row=1, ctSt(v.sizr.__lFrame.grio elf.in SPld 'Ispac't, self.ne etStrucWthan 0!alFrame.grid0), ] =v.sizroutsideof l=0,ambdalvar: 1].B", (n edv.sizsself.visua[umericrpac(aFrame.gri, NumericrorStru(connaFrame.gri)), v.sizs lf.visuaaFrame.griSe 1ritVcopyA, tolf.sys., seedarrltworkArchB""" Ctpies self.syslS, fil=0,argut__( array to lture[a self.sys.t.config(""" array = Numericrorray(asT) tStructconnarray)es= is(seself.xMax = 2.olf.root, hry class ConnectVeee('MismsetLt. aFrame.griiagielf.lture[oDaR.te c er ] =copyA, tolf.sys.)'ed class ConnectVeeee(connarray),0cky=Ts(sel), self.netSt seifyelf.ruct.network))e.griSe frself.xMax = 2.olf.root, hry class ConnectVeee('lFrame.griflia.ruct"), .grid(roc er ] =copyA, tolf.sys.)'ed class ConnectVeeeeaFrame.griSe ) Button) tSt(Numericroy(.f.ru")(array .__lFrame.grioo elf.in SPld 'Ispac't, self.ne etStrucWthan 0!alFrame.grid0), ] =v.sizroutsideof l=0,ambdalvar: 1].B", (n edarray)e lf.visuaaFrame.gri = array lf.visuaaFrame.griSe 1 rtarge inter.Y " WritVg Targe ., self.pCorrect""" RSSDat targe slte l r) .t.config(""" e__") !s*dattarge .tol () " WritVg Targe (, self.pCorrect""" RSSDat targe slte (Numeric)marray ) .t.config(""" e__") !s*dattarge " WritV Targe (, seedv.sizse: """ Se s er targe sll=0, he v.sizrof l=0,argut__(. This v.sizrself # hte hR rStru [r: f.t.config(""" tSt seifyelf.ruct.netwtarge Se = rself.xMax = 2.etStru'Wthan 0!aTarge Tkintealreleyebeen ), elf.rub lambdenName self.act) wasar.NSEW'ed class ConnectVeee(n edin targe Se )(row=1, cifv.sizr>.__lFrame.griiav.sizr.__Targe ) self.olf.root, hry('Targe TtVerl=is ltureear ru oof rStru.', (n edarray)SData += [targe array lf.visuatarge Se 1 rflia.inter.Y " WritV"), (, self.pCorrect""" RS), starge Se elf.in aFrame.griSe fliag.t.config(""" 0*dattarge Se aFrame.griSe sre Targe (, self.pCorrect""" RS), starge Se flia.t.config(""" 0*dattarge Se sre lFrame.gri(, self.pCorrect""" RS), saFrame.griSe flia.t.config(""" 0*datr, toe.griSe .updateWei) """ Cwhiesentersmreferr(cosl] =lwo lturet (S, fielf.lo) elf.l=0 wames e.grtween l=0m. """ #entesbotGUo+ elf.iMSDae.griinter.Y " WritVs To: %s" % (ed if self.root: """ CtesbotGUo+ tVer.updateWei . Takes.test ncesrof sourcgielf nestine.grilturet as argut__(s.t.config(""" 0*dat if s " if s 0*datto if s to if s 0*datiMSDaRMSData ritViMSDaRM % (ltworkArchB""" IiMSDaRsmdwames elf.in wud. ze!._trices.t.config(""" 0*datrelfomDaRMSData += [dwames Numericrzes((0*dat if s s conn class ConnectVeeeeeee.1, col=0 0*datto if sTs(selnn'f'SData += [wedNumericrzes((0*dat if s s conn class ConnectVeeeeeee.1, col=0 0*datto if sTs(selnn'f'SData srelfomDaRM % (ltworkArchB""" Se swames e. "%iMS relfom x.size.te hR rStru [-.__nnmax].t.config(""" 0*datwames relfomArray((0*dat if s s conn class ConnectVeeeeeee.1, col=0 0*datto if sTs(seln class ConnectVeeeeeee.1, col=0 0*datto if sT.__Relfomro ritVs sbolot, self.pCorrecte__") !toS .")rect #entedateWei modifice.griinter.Y " WritVf.writDiag" % (ed if sS connto if sS(seltworkArchB""" C.write(l=0,sDaR of l=0,ntedateWei depeneNameon(l=0,sDaR f.writ of eil=0r sourcgiete(estine.grilture. Should only # f.NSEW)througha[-1]) teStructureDiags).t.config(""" selto if sS(sei<friete if sS coi<frself.xMax = 2.olf.root, hry('f.writDiag")hr.NSEW)witeoinv.sif.lture[oDaR'ed class ConnectVeeeeeee.1, col=0( if sS connto if sS(sel) nwames Numericrzes(( if sS connto if sS(selnn'f'SData += [wedNumericrzes(( if sS connto if sS(selnn'f'SData += [wemes relfomArray(( if sS connto if sS(seln class ConnectVeeeeeee.1, col0*datto if sT.__Relfomroe.1, col#=copylS, fiold. new,entesiderNameon is sm.NSEs .inF if sS coi mterd if sS conn0*dat if s s colelf.xMax minTo if sS coi mterdto if sS(se, 0*datto if sTs(selelf.xMax tVeri() mrStru(minF if sS co) self.tVerj() mrStru(minTo if sS(seltworkArchBata += [wed[i][j] f.actVvwed[i][j]workArchBata += [nwames [i][j] f.actVvnwames [i][j]workArchBata += [wemes [i][j] f.actVvwames [i][j]workArchBdwames dwames Data += [wedwed 0*datwames wames D #enter.NSinter.Y " WritVnterlaandleNetworkArchB""" Dter.NS ntedateWei in) retur =l=0,som en rchB""" tStto if sT self.coma> rt, self.ne etStrucwed:lS, fi'" +a if s n + "' ='" +ato if sTn +"'" self.tVerj() mrStru(0*datto if sTs(seltworkArchBata += [tToWindow()to if sTn , "[", j, "]itButton) etStru''omVer.namelf.tVeri() mrStru(0*dat if s s coltworkArchBata += [tToWindow() if s n , "[", i, "]it ": itButto self.tVerj() mrStru(0*datto if sTs(seltworkArchBata += [+= [tToWindow()wed[i][j]tButto self.etStru''omVer.namelf.etStru''omVer.namelf.etStru"dwames :lS, fi'" +a if s n + "' ='" +ato if sTn +"'" self.tVerj() mrStru(0*datto if sTs(seltworkArchBata += [tToWindow()to if sTn , "[", j, "]itButton) etStru''omVer.namelf.tVeri() mrStru(0*dat if s s coltworkArchBata += [tToWindow() if s n , "[", i, "]it ": itButto self.tVerj() mrStru(0*datto if sTs(seltworkArchBata += [+= [tToWindow()nwames [i][j]tButto self.etStru''omVer.namelf.etStru''omVer.nametStrucWames e:lS, fi'" +a if s n + "' ='" +ato if sTn +"'" setStrucrchBBBBBBBBBBitButto tVerj() mrStru(0*datto if sTs(seltworkArchBata tToWindow()to if sTn , "[", j, "]itButton) etStru''omVer.namtVeri() mrStru(0*dat if s s coltworkArchBata tToWindow() if s n , "[", i, "]it ": itButto stVerj() mrStru(0*datto if sTs(seltworkArchBata += [tToWindow()wames [i][j]tButto setStru''omVer.nametStru''o #e [tOutput.conritVtoS ., self.pCorrect""" CtedateWei in) returas ao rect""" 0 =u"" tStto if sT self.coma> rt, self.ne .__cwed:lS, fi'" +a if s n + "' ='" +ato if sTn +"'\n" , self.ne .__c self.ne " self.tVerj() mrStru(0*datto if sTs(seltworkArchBata += [ .__c self.ne" +ato if sTn + "[" +atr jl + "]", self.ne .__'\n'omVer.namelf.tVeri() mrStru(0*dat if s s coltworkArchBata += [ .__ if s n + "["+atr i)+ "]"+ ": iButto self.tVerj() mrStru(0*datto if sTs(seltworkArchBata += [ .__c self.ne " +atr cky=Twed[i][j])elf.xMax = 2. usV .__'\n'omVer.namelf. .__'\n'omVer.namelf. .__"dwames :lS, fi'" +a if s n + "' ='" +ato if sTn +"'\n" .__c self.ne " self.tVerj() mrStru(0*datto if sTs(seltworkArchBata += [ .__c self.ne" +ato if sTn + "["+atr j)+ "]", self.ne .__'\n'omVer.namelf.tVeri() mrStru(0*dat if s s coltworkArchBata += [ .__ if s n + "["+atr i)+ "]"+ ": iButto self.tVerj() mrStru(0*datto if sTs(seltworkArchBata += [ .___c self.ne " +atr cky=Tnwames [i][j])elf.xMax = 2. usV .__'\n'omVer.namelf. .__'\n'omVer.nam .__cWames e:lS, fi'" +a if s n + "' ='" +ato if sTn +"'\n" .__c self.ne " stVerj() mrStru(0*datto if sTs(seltworkArchBata .__c self.ne" +ato if sTn + "["+atr j)+ "]", self.ne .__'\n'omVer.namtVeri() mrStru(0*dat if s s coltworkArchBata .__ if s n + "["+atr i)+ "]"+ ": iButto stVerj() mrStru(0*datto if sTs(seltworkArchBata += [ .__ucrchB" +atr cky=Twemes [i][j])elf.xMax = 2. .__'\n'omVer.nam .__'\n'omVer.namTSSData n.namNenton() """ Cwhiesentersmall of l=0,0 eayes elf..nter.Y Veedud. run a Hiural Hinton(. """ #entesbotGUo+ " WritVs To: %s" % (edn 'Bself.acNenton(', self.comag. """ CtesbotGUo+ tVerl=0,Nenton(s . Takes. Tkinal H elf. self.comaargut__(s.t.config(""" xrelfom.relfom() * 100000 +a int. int() 0*dat Seed(xlf, fromLan n lturet = []lturetByN {}er.weight)s = []#spacMap = []targe Map = [] ods fro = []#spacs = []targe sr= []ovar.get()), ioad(var. = []l than 0 1 usVng th.it__(se 0.9 usVng thre), 5000 ng thre), TSuig(se1 ng thre), e mus 5 ng thbtResee ntuig(se.#enumber offNimes. isar.NSEW self.comag. self.com 0*dat ramol("WM_(se1.sigmoid_etSme_offse .1 usVng th [0,1].") .4#sayer, toLfe .1 usVng threRf.R 25 ng thcrossV.sifro Corpu self.writenrossV.sifro ReLturet = []nrossV.sifro ReRf.R nrossV.sifro Sa ("BRf.R nrossV.sifro Sa ("Benam "sa ("B.cv" 0*datpatayens {}patayened0 retVerlf): IO)witeoin)), elf.large so r general inter.Y " WritV0 th" % (edpor if selendroot: """ U. ) m.textOcot.Tn 0 witeo seifyArchitlayurLao elf.) m _ s).t.config(""" nVerag.{por if sn :dpor if s}vi.coed{}wh nVera!{} self.tVerct__ st=nVer.ct__saot, self.ne usV r ct__[0] :dn , ct__[1] :dlture[referr(co, self.ne usV r addlture ] =vi.coedeoot elf.nellS, finVera, self.ne usV vi.coed[ct__[0]] f.ct__[1], self.ne usV nellnVer[ct__[0]]Butto self.tVerntedateWei iner.weight)stworkArchBata += [ selfS.weight) if s n == ct__[0]tworkArchBata += [ selfS.weight)to if sTn ==lendroot:Tn tworkArchBata += [ TSSData1t#oaV0 th!workArchBata += [ elselnVer.has_key(fS.weight)to if sTn ltworkArchBata += [ stdet#oalreleyete hR lis be tra exsEWata += [ elselvi.coed.has_key(fS.weight)to if sTn ltworkArchBata += [ stdet#oalreleyebeen l=0ro, self.ne usV el self.................r add next self.................nVer[fS.weight)to if sTn ] f.fS.weight)to if somVer.namTSSData0 #entdn'trlflf.)t elf.rStl u oof placosl] =go " WritVs sbolot, self.pCorrect""" RSSDat .re"),nte.griofoHinton(. rect""" e__") !toS .")rectritVs ge ct__%s" % (edn lf.pCorrect""" RSSDat l=0,lture[opecifi d bydn . rect""" e__") !lturetByN [n ])rectritVs lenlot, self.pCorrect""" RSSDat l=0,number offlturet te hR Hinton(. rect""" e__") !connlturet) " WritVg if sIndex" % (edloot: """ GtoLnprootferr(coe] = lif selrSSDat l=0,index of l=at lture i !lturet. rect"""..............omVer.namtVeri() mrStru(connlturet)ltworkArchBata ifflturees= ilturet[i]: #e h.NSow cmp self.....e__") !i e__") !-1.#enoElte l r .nter.Y tVerntesbotGU elf.modifyNamea Hinton( " WritVadd" % (edloot:, self.comag. """ Addsprolture. if s self.comais. Tkinal (defad0).t.config(""" lif sT self.comag. self.com 0*datlturet.appene(loot: lturetByN [lif sTn ] f.lif somVerritVco.weig" % (ed NBoxnntoNBox)f.pCorrect""" Ctedates=lwo lturet by.test ntfro el st nceeof CtedateWei ..pCorrect""" if s g if s( NBox to if s g if s(toNBox)tStg if sIndex" if s) >=tg if sIndex"f.root: eoNenton(ot, hry('lf.rosl u oof ovar..', ( if s n , to if sTn l)(row=1, ctSt( if s typx 'O '(self.xMax = 2. if s typx 'Hidden'omVer.namelf.tSt if s SPld 'O ' self..... if s SPld 'Hidden'omVer.namelsel( if s typx 'Unarfined'(self.xMax = 2. if s typx 'Ispac'omVer.namelf.tSt if s SPld 'Unarfined' self..... if s SPld 'Ispac'omVer.namsel(to if sTtypx 'Ispac'ot, self.ne eoNenton(ot, hry('Cr.weight)s u oof ovar.', ( if s n , to if sTn l)(row=1, celsel(to if sTtypx 'Unarfined'(self.xMax = 2.to if sTtypx 'O 'omVer.namelf.tStto if sTSPld 'Unarfined' self.....to if sTSPld 'O 'omVer.namer.weight)s.appene(Cr.weight)( if self.root: ) " WritVaddThreucture (, seedin , hid , u c)f.pCorrect""" Cm %s threufltureeHinton(switeo'#spac', 'hidden',ielf 'o ' lturet. rect""" dd" if s('#spac', in ) s lf.visuaadd" if s('hidden',ihid ) s lf.visuaadd" if s('o ', u c) s lf.visuaco.weig"'#spac', 'hidden's lf.visuaco.weig"'hidden',i'o ') " WritVs if sVseifice.gri(, seedv.sizse: tVerlture[i !lturet self.lif sT seifyx.sizvrootritVteStructureDiags % (edloot:n , news(seltworkArchB""" C.write(lture[oDaRoNews(seiself # hgm %s erl=el zeworkArchB""" #r er ntedateWei S, filorl=is lture, f.writ ._trixe: tVerntedateWei iner.weight)stworkArchBata selfS.weight) if s n == loot:n self.....fS.weight)f.writDiag" news(sennfS.weight)to if sTs(sei)ct(sef, p stiselfS.weight)to if sTn ==lloot:n self.....fS.weight)f.writDiag" fS.weight) if s s connnews(se roe.1, col#=l=0n, f.writ l=0,actual lture[oDaRe: g if s(loot:n )f.writDiag"news(selelf.x#t"), .elf.) iMSDae.grivrootritV"), (, self.pCorrect""" RS), sEW vasize. rect""" eelfom.EW cky=TsEW1ass VisRobRelfomArray.EW ) cky=TsEW1a, in cky=TsEW2)SData += [iMSDaRMSData ritViMSDaRM % (ltworkArchB""" IiMSDaRsmHinton(sbyee er Cr.weight)iMSDaRMSielf if s iMSDaRMS.ntuig(id0), ] =zeworkArchB""" ntuig(se: tVerntedateWei iner.weight)stworkArchBata cr.weight)iMSDaRMS: tVerlture[i !lturet self.lif sTiMSDaRM % (e )vrootritV"), (, self.pCorrect""" RS), slture[fliagr Frame.grielf.large ..pCorrect""" Verlture[i !lturet self.lif sT"), ()D r , .elf.ge inter.Yr ttrikines " WritVg if s" % (edn lf.pCorrect""" RSSDat l=0,lture[witeol=0,argut__( ( )dn . rect""" e__") !lturetByN [n ])rectritV , Patayened(, seedv.sizse: """ Se s hR Hinton( opatayens tVerin)), elf.large sworkArchB""" patayenedv.siz " WritV Isayer, toL(, seedv.sizse: """ Se s#sayer, toL] =v.siz. Specifi s selan#sayer, toLp p Data += [hould acc pelybowo)iaoo.workArchB""" #sayer, toLfv.siz " WritV T[0,1].")(, seedv.sizse: """ Se s [0,1].") ] =v.siz. This specifi s how c accept elf.xMax o s self # hlorlarge sworkArchB""" [0,1].") v.siz " WritV A, toLa % (edltureN edv.sizse: """ Se s lture ] = , toL. Affates=ce To: ()nnfSm e_evDiag)tButton) et (), f.writ_wames e(), nterlaano.workArchB""" g if s(loot:NBox). A, toLav.sizs lf.vritVg A, toLa % (edltureN lf.pCorrect""" RSSDat l=0,v.sizrof l=0,a, toLflia.tVerl=0,lture[opecifi d byeltureN . rect""" e__") !g if s(loot:NBox).g A, toLa) " WritVs than 0a % (edv.sizse: """ Se sl than 0 ] =v.siz. Deayemines sel hR Hinton( l thastButton) tz. c.write(ntedateWei wames e.t.config(""" 0*dati than 0 v.siz " WritV Mit__(sea % (edv.sizse: """ Se sng th.it__(se ] =v.siz. U. ) mf.writ_wames e().t.config(""" 0*dat.it__(se v.siz " WritV Re), e musa % (edv.sizse: """ Se sng thre), e mus ] =v.siz. When l=0,number off"), s e_achte(l=0,"), .l mus ]hR Hinton( quits.t.config(""" 0*datre), e mus v.siz " WritV Re), a % (edv.sizse: """ Se sng thre), ] =v.siz. When l=0,number offe s e_achte(ng thre), ]hR Hinton( re)pors.t.config(""" 0*datre), v.siz " WritV BtResa % (edv.sizse: """ Se sng thbtRese] =v.siz. Accumul%s .textO ex ]hR __(Nro, self.netn 0 , .elf.only c.write(wames e.afs ert ch tn 0 btReseisaro ("Bne.t.config(""" ng thbtResev.siz " WritV Seed(, seedv.sizse: """ Se s hR seed v.siz.t.config(""" 0*datsEW1ev.siz " W 0*datsEW2ev.siz / 23.45 if in cky=TsEW2)i<frself.xMax = 2.0*datsEW2e515elf.xMax = 2.etStrucWthan 0: relfom seed o sm.NS" eelfom.EW cky=TsEW1ass VisRobRelfomArray.EW ) cky=TsEW1a, in cky=TsEW2)SData ritVg oD.weight)( % (edl edltolf.pCorrect""" RSSDat l=0,ntedateWei inst nceentedateW 0 ]hx specifi d ( )dltureeHBox ..pCorrect""" VerntedateWei iner.weight)stworkArchBata selfS.weight) if s n == lS, fielf. class ConnectVfS.weight)to if sTn ==llto self.....e__") !ctedateWei eoNenton(ot, hry('Cr.weight) wasanoElftuiW'ed(l edltol) " WritVs Vself.coma % (edv.sizse: """ Se sng th self.comaalf.t ch lif s self.coma v.siz.t.config(""" 0*dat self.comag. .siz " W tVerlture[i !lturet self.lif sT self.comag. .siz " WritV Sramol("WM_a % (edv.sizse: """ Se sng th ramol("WM_(] =v.siz. tt) wier ram sel hR pl("WM_(cDimPlo surstdets hR sram pl("WM_.t.config(""" 0*datsramol("WM_(se .siz " WritV Sigmoid_etSme_offse a % (edv.sizse: """ Se sng th igmoid_etSme_offse v.siz.t.config(""" 0*datsigmoid_etSme_offse v.siz " WritV ReRf.Ra % (edv.sizse: """ Se sng threRf.R ] =v.siz. tt) wier re when e % reRf.R .t.config(""" 0*datreRf.R v.siz " WritV CrossV.sifro ReRf.Ra % (edv.sizse: """ Se sng thnrossV.sifro ReRf.R ] =v.siz. tt) wier re when e % nrossV.sifro reRf.R .t.config(""" 0*datnrossV.sifro ReRf.R v.siz " WritV Seed1a % (edv.sizse: """ Se sngEW1e] =v.siz. DoesenoElteiMSDaR hR rStfom number generatoe.t.config(""" 0*datsEW1ev.siz " WritV Seed2a % (edv.sizse: """ Se sngEW2e] =v.siz. DoesenoElteiMSDaR hR rStfom number generatoe.t.config(""" 0*datsEW2 v.siz " WritV M__Relfom(, seedv.sizse: """ Se s hR .__Relfom if s attrikine tVert ch lture ] =v.siz.Specifi s hR globMS relge tVerrStfomly iMSDaR. vasize, [-.__nnmax].t.config(""" tVerlture[i !lturet self.lif sT.__Relfom x.sizvrootritVg rt t, self.pCorrect""" RSSDat l=0,e tVerl=0,Nenton(sst nce.t.config(""" e__") !s*datet vrootritV rt ( % (edv.sizse: """ Se set v.sizr hR Hinton(. rect""" e .siz " W tVerlture[i !lturet self.lif sT rt (v.sizs lf.vritVg Wames e" % (ed NBoxnntoNBox)f.pCorrect""" Ge s hR wames e.of l=0,ntedateWei grtween lwo lturet (argut__( s).t.config(""" VerntedateWei iner.weight)stworkArchBata selfS.weight) if s n == NBoxielf. class ConnectVfS.weight)to if sTn ==ltoNBox self.....e__") !ctedateWei.wames Data += [eoNenton(ot, hry('Cr.weight) wasanoElftuiW'ed( NBoxnntoNBox)) " WritVs Wames " % (ed NBoxnn Pos,0toNBox,0toPos,0v.sizse: """ Se s hR wames of l=0,ntedateWei grtween lwo lturet (argut__( s).t.config(""" VerntedateWei iner.weight)stworkArchBata selfS.weight) if s n == NBoxielf. class ConnectVfS.weight)to if sTn ==ltoNBox self.....ctedateWei.wames [ Pos][toPos] .siz " W elf.....e__") ! .siz " W eoNenton(ot, hry('Cr.weight) wasanoElftuiW'ed( NBoxnntoNBox)) " WritVs Ovar.get()), a % (edv.sizse: """ Se sng thovar.get()), ] =v.siz. Specifi s selin)), hould be.ovar.ge.elf.)f so.ovar. l=0,in)), . rect""" ovar.get()), .siz " W tStovar.get()), self.xMax = 2.0*datioad(var. = rStru(connin)), )) " WritV seifyArgut__(s(, seedarg)f.pCorrect""" Vseifi s hateargut__(s] = Is)), elf. Targe ear apet rif.Rly ) atayd.t.config(""" tVerl() margtworkArchBata selnoEltypx(l)es= lis elf. class ConnectVnoEltypx(l)es= typx(bRelfomArray.relfom(1) ) elf. class ConnectVnoEltypx(l)es= tuplx self.....e__") !0 self.tVeri() ml self.....selnoEltypx(i)es= elf.ructtypx(i)es= in self.........e__") !0 sTSSData1 " WritVs t()), a % (edin)), )e: """ Se sng th#spac "%)), . Load.ovar.eisabyedefadeelfom. UVs Ovar.get()), a) ovar.ein)), . rect""" selnoEl0*dat seifyArgut__(s(in)), )elf.ruct.netwpatayenedt, self.ne eoNenton(ot, hry('s t()), a) "quir nesoedlis of l=0,) [[...],[...],...].'edin)), ) #spacs = in)), *datioad(var. = rStru(connin)), )).#enoEleelfom # wier relfomDaR ltt):,stStre d bz " WritV O a % (edo s)e: """ FVerntmpatiblcom.t.config(""" 0*dats Targe (o s) " WritV Targe (, seedlarge sse: """ Se s hR large sworkArchB""" selnoEl0*dat seifyArgut__(s(large sself.ruct.netwpatayenedt, self.ne eoNenton(ot, hry('s O a) "quir nesoedlis of l=0,) [[...],[...],...].'edlarge ss 0*dattarge sr= large so" WritV ods froea % (edinNBoxnno NBox)f.pCorrect""" inNBox ltureealf.o NBox,lture[wier # h uto- ods fro rect""" 0e ods fro .appene((inNBoxnno NBox)) " WritVmapt()),a % (edveGUo+1nnoffse """ AddspveGUo+ealf.offse #spacMap.workArchB""" #spacMap.appene((veGUo+1nnoffse )) " WritVmapTarge a % (edveGUo+1nnoffse """ AddspveGUo+ealf.offse targe Map.t.config(""" 0*dattarge Map.appene((veGUo+1nnoffse )) # #spacelf.large .inter.Y " WritVelfomDaR(var.t, self.pCorrect""" RelfomDaRs *datioad(var., l=0,ovar.einwhiese#spacs se wite 0*dats t()), a) ar "),ntyd.t.config(""" tlia.= [0] * connin)), ) *datioad(var. = [0] * connin)), ) tVeri() mrStru(connin)), ))tworkArchBata tos = int(relfom.relfom() * connin)), )) " WWWWWWWWWwh (tlia[pos] = 1ltworkArchBata += [tos = int(relfom.relfom() * connin)), )) " WWWWWWWWWtlia[pos] e1 *datioad(var.[pos] ei [ct(self, copyVeGUo+a % (edveGUo+1nnveG2edporltworkArchB""" Ctpies veG2 to=veGUo+1 # n 0 urR ] =replacoopatayens if weiessary. UVs erpyA, tolf.sys.)ia erpyTarge () insoead.t.config(""" veGUo+2 replacoPatayens(veG2) cong = mterconnveGUo+1), connveGUo+2l), self.netSt self.coma> 1t, self.ne etStrucCtpyNameVeGUo+: it veGUo+2[por:por+cong ]Butto p(se: tVeri() mrStru(0poredpor + cong ltworkArchBata veGUo+1[p] eGUo+2[i]Butto sp .__1ritVcopyA, tolf.sys., seedloot:, scedpor g. """ Ctpies self.sysl) m scr =l=0,specifi d lif selrSplacn 0 patayens if weiessary.t.config(""" veGUo+ replacoPatayens(veG), self.netSt self.coma> 1t, self.ne etStrucCtpyNameA, tolf.sys: it veGUo+[por:por+cif s s co]Butto cif s copyA, tolf.sys.veGUo+[por:por+cif s s co])ritVcopyTarge (, seedloot:, scedpor g. """ Ctpies targe slte scr =specifi d lif selrSplacn 0 patayens selneiessary.t.config(""" veGUo+ replacoPatayens(veG), self.netSt self.coma> 1t, self.ne etStrucCtpyNameTarge : it veGUo+[por:por+cif s s co]Butto cif s copyTarge (veGUo+[por:por+cif s s co])ritVioadt()),a % (edpos,0por g. """ Loads #spacetdpos. U. witeo0*dats t()), a)workArchB""" seltos >= connin)), )t, self.ne eoIndexot, hry('ioadt()),a) patayen # yolf.rStru.', tos), self.netSt self.coma> 0: etStrucLoadNamein)),"edpos,0"..." selconnin)),Map)= rself.xMax = 2.s erpyA, tolf.sys.lturet[0], #spacs[pos]edporlelf.xMax el r .apt()), se manuallyelf.xMax = 2.fiav.ss inin)),MaptworkArchBata += [(v1nnoffse ) .ssworkArchBata += [s erpyA, tolf.sys.g if s(v1), #spacs[pos]edoffse )ritVioadTarge a % (edpos,0por g. """ Loads targe atdpos. U. witeo0*dats Targe ()workArchB""" seltos >= connlarge sse: eSSDatal#=l=0re0._yT# hn targe , self.netSt self.coma> 1t etStrucLoadNametarge "edpos,0"..." selconntarge Map)= rself.xMax = 2.s erpyTarge (, selturet[connlturet)-1]edin targe s[pos]edporlelf.xMax el r se manuallyelf.xMax = 2.fiav.ss intarge MaptworkArchBata += [(v1nnoffse ) .ssworkArchBata += [s erpyTarge (, seg if s(v1), targe s[pos]edoffse ) # #spacedarchitlayurL,elf.large .vseifice.gri " WritV seifyArchitlayurLa, self.pCorrect""" Cot.T.fiaorphan d lif ss VerntedateWeis. As urR ]hateHinton( " WWWWWarchitlayurLeisafeed-fiaward (no-cycles). Cot.T.ntedateWvcom. Cot.T.nam rect""" #[fliagr lture ]ypx tesosworkArchBhiddent()), e1 hiddenO e1 o if sFlia.= 1 #spac if sFlia.= 1 #[self kintelif ss elf.ntedateWeis selconnlturet)frself.xMax = 2.oNenton(ot, hry('No Hinton( lturet.'ed class ConnectVeeeeeee.1, col=0lturet) selconnntedateWeis)frself.xMax = 2.oNenton(ot, hry('No Hinton( ntedateWeis.'ed class ConnectVeeeeeee.1, col=0ntedateWeis) #[lif ss hould ructkintel=0,sBox,n x, yete [(x, y) x() mrStru(connlturet)l y() mrStru(connlturet)l]tworkArchBata selxfytworkArchBata += [ttdet#osBox,lture[so,sBox,n el self.....#entfferr(t[lif ss Box,n ata sel, selturet[x]Tn ==l, selturet[y]Tn tworkArchBata += [ oNenton(ot, hry('Two lturet kintel=0,sBox,n 'ed(x,y)SData += [#eno multip er.weight)s grtween lturet x, yete [(x,y) x() mrStru(connntedateWeis)l y() mrStru(connntedateWeis)l]tworkArchBata selxfytworkArchBata += [ttdet#osBox,ctedateWei el self.....#emultip er.weight)s grtween if s elf.lo if sata sel, seer.weight)s[x]T if s n == , seer.weight)s[y]T if s n elf. class ConnectVVVVV, seer.weight)s[x]Tto if sTn ==l, seer.weight)s[y]Tto if sTn tworkArchBata += [ oNenton(ot, hry('Multip er.weight)s grtween lwo lturet.'ed class ConnectVeeeeeee.1, col=0nntedateWeis[x]T if s n ed class ConnectVeeeeeee.1, col=0V, seer.weight)s[x]Tto if sTn )) #[lif s ]ypx tesosworkArchBtVerlture[i !lturet self.#eno unarfined lturetiffltureTtypx 'Unarfined' self.....eoNenton(ot, hry('T=0re0is el uner.weiged lture.'edlif sTn ) eliffltureTtypx 'Ispac't, self.ne rchBtVerntedateWei iner.weight)stworkArchBata += [ # #spaclturet self kinteo goNamecr.weight)s workArchBata += [ selfS.weight) if s n == loot:Tn tworkArchBata += [ #spac if sFlia.= 0workArchBata += [ # #spaclturet self kinterub lcomNamecr.weight)sworkArchBata += [ selfS.weight)to if sTn ==lloot:Tn tworkArchBata += [ eoNenton(ot, hry class ConnectVeeeeeee.1, col=('lf.ro kis ]ypx \'Ispac\'elf.an#scomNamecr.weight).'edlif sTn ) sel#spac if sFliatworkArchBata += [ oNenton(ot, hry class ConnectVeeeeeee.1, ('lf.ro kis ]ypx \'Ispac\'bacrubo goNamecr.weight)s'edlif sTn ) eliffltureTtypx 'O ' self..... VerntedateWei iner.weight)stworkArchBata += [ # o lturet self kinterubo goNamecr.weight)s`workArchBata += [ selfS.weight) if s n == loot:Tn tworkArchBata += [ eoNenton(ot, hry class ConnectVeeeeeee.1, col=('lf.ro kis ]ypx \'O \'elf.ano goNamecr.weight)s.'elif sTn ) # o lturet self kintean#scomNamecr.weight)workArchBata += [ selfS.weight)to if sTn ==lloot:Tn tworkArchBata += [ o if sFlia.= 0workArchBata += [selo if sFliatworkArchBata += [ oNenton(ot, hry class ConnectVeeeeeee.1, ('lf.ro kis ]ypx \'O \'elf.rub lcomNamecr.weight)s.'edlif sTn )eeeeeee.1, eliffltureTtypx 'Hidden' self..... VerntedateWei iner.weight)stworkArchBata += [ # hiddenlturet self kinte lcomNamealf.o goNamecr.weight)s.workArchBata += [ selfS.weight)to if sTn ==lloot:Tn tworkArchBata += [ hiddent()), e0workArchBata += [ selfS.weight) if s n == loot:Tn tworkArchBata += [ hiddenO e0workArchBata += [selhiddent()), VerhiddenO tworkArchBata += [ oNenton(ot, hry class ConnectVeeeeeee.1, ('lf.ro kis ]ypx \'Hidden\'bacdoesenoElkinteboteoin)),ealf.o )),ecr.weight)s.'e class ConnectVeeeeeee.1, clif sTn ) el self.....olf.root, hry('Unknownlture enntuigr.ge.te seifyArchitlayurLao.'edlif sTn ) # Hinton( hould ructkinteuner.weiged sub Hinton(s # e sey #spaclture hould kinteaV0 thr =e sey o lture: tVerinLture[i !lturet self.sel#sLtureTtypx 'Ispac't, self.ne rchBtVero if s[i !lturet self. self.selo if sTtypx 'O ' self..... self.selruct.netwpath(#sLture,lo if sltworkArchBata += [ oNenton(ot, hry('Ninton( ntersmdiser.weiged sub Hinton(s.'ed class ConnectVeeeeeee.1, col=0(#sLture n edo if sTn )) #[Hinton( hould ructkintedireiged cyclesworkArchBtVerlture[i !lturet self.sel, sepath(lif sellif sltworkArchBata += [oNenton(ot, hry('Ninton( ntersma cycle.'edlif sTn )eee " WritV seifyt()), a % ( """ U. ) met ()] =vseify]hate]hR Hinton( #spac " WWWWWa self.syslkintebeen ), .t.config(""" tVerlture[i !lturet self.iffltureT seifyelf.ltureTtypx 'Ispac'elf.ltureTa, toLelf.ructltureTa, toe.griSe self.....olf.root, hry('Is)), erelruct.nt elf. seifyt()), a) wasar.NSEW rilture.'e class ConnectVeeeeeee.1, c(lture n edltureTtypx)) el self.....ltureTre lFrame.gri() " WritV seifyTarge (, self.pCorrect""" U. ) m self.act) ] =vseify]hate]hR Hinton( targe slkint been ), .t.config(""" tVerlture[i !lturet self.iffltureT seifyelf.ltureTtypx 'O 'elf.ltureTa, toLelf.ructltureTtarge Se self.....olf.root, hry('Targe ear ruct.nt elf. seifyTarge () wasar.NSEW'e class ConnectVeeeeeee.1, c(lture n edltureTtypx)) el self.....ltureTre Targe () # .textOre [tOutpus " WritVg CDimPloa % (edltureN lf.pCorrect""" RSSDat l=0,number offcDimPlo Frame.griwitete [0,1].") offa elf.....ltureT.pCorrect""" e__") !g if s(loot:NBox).g CDimPloa % ( [0,1].")) " WritVRMSot, ht, self.pCorrect""" RSSDat RouctMeanSqua.ge.ot, hr er o lturet te his Hinton(. rect""" ts . coi 0 tVerlture[i !lturet self.iffltureTtypx 'O ' self.....ts += loot:TTSSot, ht)elf.xMax = 2. usV coi+= loot:TsDaR e__") !math.sqrt(.ts / s(se roe.1,ritVTSSot, ht % (edltureN lf.pCorrect""" RSSDat Total SumSqua.ge.et, hr l=0,specifi d lif s's patayenT.pCorrect""" e__") !g if s(loot:NBox).TSSot, ht)e # telf. w[tOutpus " WritVtt, self.pCorrect""" Trsm]hR Hinton( on(l=0,datase ier a srampNamecr.dieWei isworkArchBtOu. This srampNamecr.dieWei can # h .l musNamee pl("WM_agefcDimPlo "quir mWM_.t.config(""" #[cot.TWarchitlayurL*dat seifyArchitlayurLao ts ot,.; rm ot,.; e 1; [talCDimPlo; [talCDuig(se1;*datre), TSuig(se1 wh [talCDuig(!0 elf. class Connect [talCDimPlo*e1./ [talCDuig(< 0*datsramol("WM_ self.(ts ot,,t [talCDimPlo, [talCDuig) owo) self.rm ot,math.sqrt(ts ot,/ [talCDuig)ct(sef, p stisele % 0*datreRf.R frself.xMax = 2.....etStruc #%6d |VTSS.ot, h: %.4f |VCDimPlo%.4f |VRMS.ot, h: %.4f" % class ConnectVeeeeeee(e , ts ot,,t [talCDimPlo*e1./ [talCDuig,.rm ot,)ct(sef, p stiselnrossV.sifro ReRf.R elf.lonnnrossV.sifro Corpu )a> 0 elf. class ConnectVVVVV, see % 0*datnrossV.sifro ReRf.R frself.xMax = 2.....(ts CVot,,t [talCVCDimPlo, [talCVCDuig) owCrossV.sifro t)elf.xMax = 2. usVrm CVot,math.sqrt(ts CVot,/ [talCVCDuig)elf.xMax = 2.....etStrucCV....#%6d |VTSS.ot, h: %.4f |VCDimPlo%.4f |VRMS.ot, h: %.4f" % class ConnectVeeeeeee(e , ts CVot,,t [talCVCDimPlo*e1./ [talCVCDuig,.rm CVot,)ct(sef, p stiselre), =V, see self.....sel*datre), TSuig(s=l*datre), e mustworkArchBata += [ etStrucR"), .l mus e_achtd; eneNamewite u oe_achNamegoaS" be_ak *datre), TSuig(+e1 etStrucRESET! re), e_achtd; porNameo se..." *datiMSDaRMS: ts ot,.; rm ot,.; e 1; [talCDimPlo: nteriniz " W elf.systsrd u .flushMS: e +e1 etStruc----------------------------------------------------" sel [talCDuig(> rt, self.ne etStrucFinal #%6d |VTSS.ot, h: %.4f |VCDimPlo%.4f |VRMS.ot, h: %.4f" % class ConnectVeee(e , ts ot,,t [talCDimPlo*e1./ [talCDuig,.rm ot,)ct(sef, p stiselnrossV.sifro ReRf.R elf.lonnnrossV.sifro Corpu )a> 0self.xMax = 2.....(ts CVot,,t [talCVCDimPlo, [talCVCDuig) owCrossV.sifro t)elf.xMax = 2. usVrm CVot,math.sqrt(ts CVot,/ [talCVCDuig)elf.xMax = 2.....etStrucCV....#%6d |VTSS.ot, h: %.4f |VCDimPlo%.4f |VRMS.ot, h: %.4f" % class ConnectVectVeee(e , ts CVot,,t [talCVCDimPlo*e1./ [talCVCDuig,.rm CVot,)ct(sef, pel self.etStrucFinal: ruchNamedone" etStruc----------------------------------------------------" ritV wCrossV.sifro t, self.pCorrect""" owCrossV.sifro t)[wier go)throughat ch of l=0,nrossv.sifro #spac/large sworkArchBT=0,nrossV.sifro Corpu is lis of eootkinaries of #spac/large s e_ferr(cod byelturen . rectExa ("B: ({"in)),": [.,.1], "o ": [1.]}, {"in)),": [.5,.9], "o ": [0.]}).pCorrect""" #.ge i than 0 v.sizrelf.lhen l") !i off oldL than 0 l than 0*dati than 0 : ts ot,o,.; [talCDimPlo; [talCDuig(se0;fia t inerossV.sifro Corpu self.(et, hrycDimPlo, [tal) oo ** t )ct(sef, p stiselnrossV.sifro ReLturet != []self.xMax = 2.....(et, hrycDimPlo, [tal) g rt, ht *nrossV.sifro ReLturet )ct(sef, p stits ot,o,+eet, hct(sef, p stit[talCDimPlo+=ycDimPloct(sef, p stit[talCDuig(+et[tal*dati than 0 oldL than 0 e__") !(ts ot,o,,t [talCDimPlo, [talCDuig) ritV aveNinton(ForCrossV.sifro t, se,rlf):n edmodx 'a'(self.xMax fp(seoponnlf):n edmodx) #[tVert ch lture,stSttypx ist()), VerO ,V ave!i witeon #eon pl(lin p.writl("{"S: tVerlture[i !lturet self.iffltureTtypx 'Ispac't, self.ne rchBtp.writl('"' + cif s n + '": [')elf.xMax = 2.....writlArray(fp,tltureTa, toe.gri, nelim it ", nl g. , self.ne rchBtp.writl('], ') eliffltureTtypx 'O ' self..... p.writl('"' + cif s n + '": [')elf.xMax = 2.....writlArray(fp,tltureTlarge , nelim it ", nl g. , self.ne rchBtp.writl('], ') p.writl("}\n") p.c () " WritVioadCrossV.sifro t, se,rlf):n (self.xMax erossV.sifro Corpu = []fp(seoponnlf):n ed"r"S: tVerlin [i !fptworkArchBata eoot eev.s(rlin [S: erossV.sifro Corpu .appene( eoot ) p.c () " WritVowo, self.pCorrect""" Rusm]hroughat_(Nro,datase . Melf r.NSVs t()), a)tButton) s Targe (),elf. ods froea)inter.Yr #siMSDaR .NSVin)), elf.large sr l=0,t_(Nro,datase be eee er et ()elf. self.act) (possiblyewite u oi than 0). RSSDat TSS.et, hr: total cDimPlo, elf.lotal cDuM_.t.config(""" sel, seload(var. == []self.xMax = 2.oNenton(ot, hry('No load(var. l=0,"%)), . Make urR #spacs class Connear oporlyese .',l, seload(var.), self.netSt self.coma> 0: etStruc #", e , "Cycle..." selruct.netwovar.get()), self.xMax = 2.0*datelfomDaR(var.to ts ot,o,.; [talCDimPlo; [talCDuig(se0;fiai[i !load(var. self.sel, se self.coma> 0ia #sayer, toLself.xMax = 2.....etStruc-----------------------------------Patayen #", i + 1 *datpreactiS: et () self.(et, hrycDimPlo, [tal) self.act) #nfSm e_evDiag)ct(sef, p stits ot,o,+eet, hct(sef, p stit[talCDimPlo+=ycDimPloct(sef, p stit[talCDuig(+et[talelf.sel, se self.coma> 0ia #sayer, toLself.xMax = 2..... nterlaanoelf.sel, se#sayer, toLself.xMax = 2..... p p MS: postactiS: ystsrd u .flushMS: sel, sel than 0 elf.ruct.netwbtResself.xMax = 2..... f.writ_wames e()ct(sef, p stiselnrossV.sifro Sa ("BRf.R elf. see % 0*datnrossV.sifro Sa ("BRf.R frself.xMax = 2.....oaveNinton(ForCrossV.sifro t, senrossV.sifro Sa ("Benam), self.netStl than 0 elf..netwbtResself.xMax = 2. f.writ_wames e() #nbtRes e__") !(ts ot,o,,t [talCDimPlo, [talCDuig) ritVcycleo, self.pCorrect""" Alayenf.R ] =owo)T.pCorrect""" e__") !owo) # " elf.post opinter.Yr ow ritVpreact % (edpatayen, g. """ U. #siMSDaR ]hR Hinton( be e et ht) Specifie ery,Vpreact) loads #space self.sys elf.large vasizer patayen elf.. respec toLly. LikewtButton) eteact) loads large vasize. Pteac .Ns #siMSDaRs euto- ods fro onT.pCorrect""" loadt()),apatayen,*, selturet[0].s(selelf.x loadTarge apatayen,*, selturet[connlturet)-1].s(selelf.x a[i ! ods fro on self.(inNBoxnno NBox) g.aact(sef, p stisnLture[ g if s(inNBox)ct(sef, p stiselnoElteLtureTtypx 'Ispac't, self.ne rchBolf.root, hry('Aods froed #spaclture ructtypx \'Ispac\'.'ed class ConnectVeeeeeee.1, col=0teLtureTtypx)ct(sef, p stio if s[ g if s(o NBox)ct(sef, p stiselnoElo if sTtypx 'O ' self.....olf.root, hry('Aods froed o lture ructtypx \'O \'.'ed class ConnectVeeeeeee.1, col=0o if sTtypx)ct(sef, p stio if serpyTarge (teLtureTe self.sy) ritVpostact % (edpatayen,eque.") lf.pCorrect""" Anylneiessary.post op ht) c.write(go =0reT.pCorrect""" ttdeD r t[tOutpue " WritVoo % (ed**argsse: """ Doesea sn 0leVo. C ers et (), self.act),ielf f.writ_wames e() selcothan 0 id0), . Uelf.xMax erpyA, tolf.sys.)] = rin)), elf.s erpyTarge (). Max t.large sracc rdn 0 ] =v.sizs ttde. t[viact(sef, p**args. Melf ttdetaods froed large srmanually. FVematr pa eayese: : : """ tVerct__ st=args.ct__saot, self.ne usVlture[ g if s(it__[0])ct(sef, p stiselltureTtypx 'Ispac't, self.ne rchBlif serpyA, tolf.sys.ct__[1]) eliffltureTtypx 'O ' self.....lif serpyTarge (tt__[1]) el self.....olf.root, hryy('UnkownVerincDimPlo lture[typx inoo[tOutpu.'edlif sTn ) et () s(et, hrycDimPlo, [tal) self.act) #nfSm e_evDiag)ct(sef, psel, se self.coma> 0ia #sayer, toLself.xMax = 2. nterlaanoelf.sel, se#sayer, toLself.xMax = 2..... p p MS: tStl than 0self.xMax = 2. f.writ_wames e() e__") !(et, hrycDimPlo, [tal) # op ht) inter.Y " WritV0 _ s % (edpor if ssse: """ Spor op ht) S, filhelturet te he l = 2.por if ss. Make urR por if ssear iMSDaR. witeol=0 = 2.desi.ge.e, tolf.sys. NO ERROR CHECKING.t.config(""" sel, se self.coma> 2: etStrucPporNally op h 0 Hinton(:" #[fPld .NSVlhelturet tevolv. ) m hR pop ht) et if sse= []# et if ssehould ructincludR por if sse(no loop ) tVerpor if s inpor if ssself.xMax = 2.tVerlture[i !lturet self. sel, se0 th" por if sellif sltworkArchBata += [ et if ss.appene(loot: tVerlture[i !et if ss self.iffltureTr, toLs workArchBata += [lif sTneti()), elif sTbias [0 t) #nid0[:] safe =0re?tVerlture[i !et if ss self.iffltureTr, toLs, self.ne rchBtVerntedateWei iner.weight)stworkArchBata += [ selfS.weight)to if sTn ==lloot:Tn tworkArchBata += [ fS.weight)to if sTneti()), efS.weight)to if sTneti()), +d class ConnectVeeeeeee.1, col=0Numeric.._trixmultip y(fS.weight) if s a, toe.gri, class ConnectVeeeeeee.1, col=0rkArchBata += [ fS.weight)wames )# et !workArchBata += [ltureTa, toe.gri a, toe.griFunight)(lif sTneti()), tVerlture[i !et if ss self.iffltureTlogelf.ltureTa, toL self.....lif swritlLo() " WritVet (, self.pCorrect""" Pt s self.sym]hrougha hR Hinton(. rect""" seifyt()), a) # grttro kivR #spacs t sel, se self.coma> 2: etStrucPt ,Nenton(s'" +d, sen + "':" #[#siMSDaR neti()),:tVerlture[i !lturet self.iffltureTtypx ! 'Ispac'elf.ltureTa, toL self.....lif sneti()), elif sTbias [0 t) #nwasasli") [:];nid0]hatesafe =0re?#[tVert ch fS.weight)edin,ovar.:tVerlture[i !lturet self.iffltureTr, toLs, self.ne rchBtVerntedateWei iner.weight)stworkArchBata += [ selfS.weight)to if sTn ==lloot:Tn elf.ntedateWei if s a, to tworkArchBata += [ fS.weight)to if sTneti()), efS.weight)to if sTneti()), +d class ConnectVeeeeeee.1, col=0Numeric.._trixmultip y(fS.weight) if s a, toe.gri, class ConnectVeeeeeee.1, col=0rkArchBata += [ fS.weight)wames )# et !workArchBata += [iffltureTtypx ! 'Ispac'tworkArchBata += [ ltureTa, toe.gri a, toe.griFunight)(lif sTneti()), tVerlture[i !lturet self.iffltureTlogelf.ltureTa, toL self.....lif swritlLo() " WWWWWeruig(+e1 #nfSu_(snumber offtimes et ()eisar.NSEW " WritVa, toe.griFunight)( % (edxse: """ Deayemine l=0,a, toe.gri offa rudR basEW ri]hateHudRs Hin #spacT.pCorrect""" e__") !(1./ (1.+Numeric.exp(-Numeric.._ximum(Numeric..#smum(x, 15),i-15)))) # self.ac ht) ritV self.act, self.pCorrect""" CSm e .textOelf.wEW tVer sel op ht) offetext. rect""" seifyTarge ().# grttro kivR large srt e__v.s =l, seerm e_evDiag)ct(sef, psel, sel than 0self.xMax = 2. frm e_wEW() e__") !e__v.s ritVf.writ_wames e(, self.pCorrect""" C.write( hR wames e.acc rdn 0 ] =l=0,ttextOv.sizs r.Ncul%s f du self.act). L than 0 self # h), .t.config(""" dw_cDuig,.dw_sse ,.0 tVerlture[i !lturet self.iffltureTa, toLelf.ltureTtypx ! 'Ispac'tworkArchBata += [ltureTdbias elif sTe *elif sTbEW +d, se.it__(se *[ltureTdbiasworkArchBata += [ltureTbias elif sTbias +[ltureTdbiasworkArchBata += [ltureTbedltureTbed*.0 dw_cDuigi+= le)(lif sTdbias , self.ne rchBdw_sse += Numeric.add..geuce(abs(lif sTdbias tVerntedateWei iner.weight)stworkArchBata selfS.weight) if s a, toLelf.fS.weight)to if sTa, toL self.....to if s efS.weight)to if s self.....fS.weight)dwames =.to if sTe *efS.weight)waW +d, se.it__(se *[fS.weight)dwames self.....fS.weight)wames =.fS.weight)wames +[fS.weight)dwames self.....fS.weight)wad=.fS.weight)wad*.0 #to if sTdbias eto if sTe *eto if sTbEW +d class ConnectVe# class ConnectVe, se.it__(se *[to if sTdbias #to if sTbias eto if sTbias +[to if sTdbias #to if sTbad=.to if sTbad*.0 dw_cDuigi+= Numeric..ultip y..geuce(fS.weight)dwames .shapx)ct(sef, p sti #dw_cDuigi+= le)(to if sTdbias , self.ne rchBdw_sse += Numeric.add..geuce(Numeric.add..geuce(abs(fS.weight)dwames )))ct(sef, p sti #dw_sse += Numeric.add..geuce(abs(lif sTdbias tSt self.coma> 0:ct(sef, p stietStrucWEIGHTS CHANGED"elf.xMax = 2. nterlaanoe__") !(dw_cDuig,.dw_sse) ritVfe To: (, self.pCorrect""" IiMSDaRsmttextOfrm ht) C.Ncul%s s.et, hr o lturet elf.) iMSDaRsmhiddenlture.et, hr] =zeworkArchB""" e__v.s =l.; cDimPlo; [talCDuig(se0tVerlture[i !lturet self.iffltureTr, toLs, self.ne rchBiffltureTtypx 'O ' self..... lture.et,o,ltureTlarge - ltureTa, toe.gri self..... t[talCDuig(+eltureTsDaR e__v.s += Numeric.add..geuce(lture.et,o,** 2)ct(sef, p sti cDimPlo+=yNumeric.add..geuce(Numeric.fabs(lif sTet,o,)(< 0*dat [0,1].")) " WWWWWWWWWWWWWeliff(ltureTtypx 'Hidden'ltworkArchBata += [ tVeri() mrStru(ctureTsDaRltworkArchBata += [ lif sTet,o,[i].e__") !(e__v.srycDimPlo, [talCDuig) ritVg rt, ht % (ed*lif sNBoxsse: [talSqua.geot,o,,t [talSDaR, [talCDimPlo.,,e0tVerltureNBox,inrltureNBoxt self. [talSqua.geot,o,+=y.geuce(oporatoe.addnnmap(rltmbda v: v** 2,!lturetByN [ltureNBox].et,o,))ct(sef, p sti [talSDaRi+= le)(lturetByN [ltureNBox].et,o,)ct(sef, p sti [talCDimPlo+=y.geuce(oporatoe.addnnmap(ltmbda d: abs(d)(< 0*dat [0,1]."),!lturetByN [ltureNBox].et,o,)oe__") !( [talSqua.geot,o,,t [talCDimPlo, [talS(selelf.xritVcom e_evDiag, self.pCorrect""" CSm e .textO er non-o lturet selwardsm]hrougha er et jeight)s.workArchB""" et, hrycDimPlo, [tal =l, seee To: ()#[go selwardsm]hroughat ch et jbacdon' oe_do o et, hs!tVerc() mrStru(connntedateWeis) - 1,i-1,i-1ltworkArchBata ntedate =l, seer.weight)s[c] self.iffer.weigto if sTa, toLelf.fS.weig if s a, to tworkArchBata += [er.weigto if sTdelta=.fS.weigto if sTet,o,*l, seACTPRIME(er.weigto if sTa, tolf.sy) rchBata += [er.weig if s et,o,er.weig if s et,o,+d class ConnectVeeeeeee.1, col=0Numeric.._trixmultip y(fS.weigwames ,er.weigto if sTdelta) e__") !(et, hrycDimPlo, [tal) ritVcom e_wEW cky=lf.pCorrect""" CSm e wames et,o,deriolf.veO er cr.weight)s ii s, seer.weight)s porNamewiteol=0lts,ecr.weight).t.config(""" Vern() mrStru(connntedateWeis) - 1,i-1,i-1ltworkArchBata ntedate =l, seer.weight)s[c] self.iffer.weig if s a, toLelf.fS.weigto if sTa, toL self.....fS.weigwad=.fS.weigwaW +dNumeric.o eret euct(er.weig if s a, toe.gri, er.weigto if sTdelta) #er.weigto if sTbad=.fS.weigto if sTbEW +der.weigto if sTdeltatVerlture[i !lturet self.iffltureTr, toLs, self.ne rchBltureTbedltureTbed+[ltureTdeltaritVACTPRIME( % (edr, lf.pCorrect""" U. ) mcom e_evDiaT.pCorrect""" e__") !((alo*e(1.-dr, l) +d, sesigmoid_etSme_offse ) ritVntffa % (edv.sizse: """ RSSDat v.sizr] =witete .01. Then e__") s ..t.config(""" selmath.fabs(v.sizs(< .01self.xMax = 2.__") !0.el self.e__") ! .siz # nterlaa elf..r [tOutpus " WritVtoSr t, self.pCorrect""" RSSDat l=0,Hinton( lturet asea sr .t.config(""" o e"" tVerlture[i !lturet self.o +eltureTtoSr t) e__") !o ritVet p M, self.pCorrectetStruc--More-- [quio, go] "tButton) che[ ystsrdin..gadlin g)ct(sef, pselche[0] 'g'self.xMax = 2. #sayer, toL(se0eliffche[0] 'q'self.xMax = 2.ystex: (1) ritVnterlaan, self.pCorrect""" Dterlaa l=0,Hinton( =l=0,scree).t.config(""" etStrucDterlaa,Hinton( '" +d, sen + "':" coi rStru(connlturet)l co..g ses g)ct(sef, pfiai[i ! co self.sel, selturet[i]Tr, toLs, self.ne rchB, selturet[i]Tnterlaanoelf.elf.sel, sepatayenedelf.s lturet[i]Ttypx ! 'Hidden' self.........large Word[ g Word(.s lturet[i]Ttarge )ct(sef, p sti tSttarge Word[! '' self..... self.etStrucTarge '%s'" % targe Word self..... sr, Word[ g Word(.s lturet[i]Ta, toe.gri )ct(sef, p sti tStr, Word[! ''iatarge Word[! '' self..... self.etStrucWord[ '%s'" % r, Wordelf.elf.sel, se self.coma> 0:ct(sef, p stiiiiiiiiiwames e. rStru(connntedateWeis)lct(sef, p stiiiiiiiiiwames e..g ses g)ct(sef, pppppppppppppfiajeinwames e self..... self.sel, seer.weight)s[j]Tto if sTn ==l, selturet[i]Tn tworkArchBata += [ , seer.weight)s[j]Tnterlaanoelf.elf............. # GA sup ritVarrayifan, self.pCorrect""" RSSDat anVarray offrudR bias v.sizs elf.fS.weight)wames ect(sef, pfiausx,inra GA.t.config(""" gene = []fVerlture[i !lturet self.iffltureTtypx ! 'Ispac's, self.ne rchBtVeri() mrStru(ctureTsDaRltworkArchBata += [ gene.appene( lif sTbias[i] tVerntedateWei iner.weight)stworkArchBata tVeri() mrStru(fS.weight) if s sDaRltworkArchBata += [fiajeinrStru(fS.weight)to if sTsDaRltworkArchBata += [ gene.appene( ctedateWei.wames [i][j] ) e__") !gene ritVunArrayifan, se,!gene """ Ctpies gene bias v.sizs elf.wames e.to Hinton( bias v.sizs elf wames e.t.config(""" g(se0#.iffgene id0]oo sm er anVIndexot, h[wier # h]hrownfVerlture[i !lturet self.iffltureTtypx ! 'Ispac's, self.ne rchBtVeri() mrStru(ctureTsDaRltworkArchBata += [ lif sTbias[i]= (fgene[g]oelf.elf.....g +e1 tVerntedateWei iner.weight)stworkArchBata tVeri() mrStru(fS.weight) if s sDaRltworkArchBata += [fiajeinrStru(fS.weight)to if sTsDaRltworkArchBata += [ ctedateWei.wames [i][j] =fgene[g]elf.elf.....g +e1 #.iffgene id0]oo loamewe0._yTkinteaV0roblem selconngene a> 0self.xMax = 2.eoIndexot, hry('Argut__(.to unArrayifa id0]oo loam.'edlonngene ) # lf): IOe " WritVlogMsgt % (edltureN ,[tOssage """ Logsea tOssageewiteoltureNBox,log rect""" #[wier ]hrow anVexcepeWei itV Log ructr.NSEW " WWWWWg if s(ltureNBox).logMsgttOssage " WritVlog if s( % (edltureN ,[lf):N lf.pCorrect""" Se s hR ltureN 'sVlog feayurL. rect""" g if s(ltureNBox). Log(lf):N l " WritVoaveWames eToenamt, se,rlf):n edmodx 'pickle'lf.pCorrect""" Saves.wames e.to lf): i !eickle, rlaii, iatl thadmodx rect""" #[modxs:!eickle, rlaii, tl tha selmodx 'pickle'self.xMax = 2.mylis arrayifanoelf.sm!eickleworkArchBata tp(seoponnlf):n ed"w"oelf.eickle.dump(mylis ,rlp)workArchBata tp.c () " WWWWWeliffmodx 'plaii'self.xMax = 2.tp(seoponnlf):n ed"w"oelf. p.writl("# Biases\n") elf. Verlture[i !lturet self. selltureTtypx ! 'Ispac's, self.ne rchBelf. p.writl("# if s: " + cif s n + "\n") elf. elf. Veri() mrStru(ctureTsDaRltworkArchBata += [ p.writl("%f " % lif sTbias[i] += [ p.writl("\n") elf. p.writl("# Wames e\n") elf. VerntedateWei iner.weight)stworkArchBata += [ p.writl("# S, fi"+[fS.weight) if s n + ".to "+elf.elf..........fS.weight)to if sTn + "\n") elf. tVeri() mrStru(fS.weight) if s sDaRltworkArchBata += [ tVerjeinrStru(fS.weight)to if sTsDaRltworkArchBata += [ += [ p.writl("%f " % ctedateWei.wames [i][j] ) += [ += [ p.writl("\n") elf. p.c () " WWWWWeliffmodx 'tl tha'self.xMax = 2.tp(seoponnlf):n ed"w"oelf. p.writl("NETWORK CONFIGURED BY TLEARN\n") elf. p.writl("# wames e.aftro %f. we\n" % 0*date ) elf. p.writl("# WEIGHTS\n") elf.cig(se1 tVerl #s!lturet self. selltoTtypx ! 'Ispac's, self.ne rchBelf. VerjeinrStru(ltoTsDaRltworkArchBata += [ += [ p.writl("# TO NODE %f\n" % cig)elf.xMax = 2..... += [ p.writl("%f\n" % ltoTbias[j] ) += [ += [ tVerlS, fii !lturet self. self.........trytworkArchBata += [[[[[[[[[[[[[[[[[ntedateWei g CtedateWei(lS, f n eltoTn ) += [ tVeri() mrStru(fS.weight) if s sDaRltworkArchBata += [ += [ tp.writl("%f\n" % ctedateWei.wames [i][j]) += [excepeoNenton(ot, h r should e__") !anVexcepeWei =0re += [ tVeri() mrStru(lS, f sDaRltworkArchBata += [ += [ tp.writl("%f\n" % 0. , self.ne rchBBBBBBBBBcig(+e1 p.c () " WWWWWel self.eoV.sizot, hry('Unknownmodx i !aveWames eToenamto.'edmodx) ritVioadWames eF, fenamt, se,rlf):n edmodx 'pickle'lf.pCorrect""" Loads wames e.S, fia lf): i !eickle, rlaii, iatl thadmodx rect""" #[modxs:!eickle, rlaii, tl tha selmodx 'pickle'self.xMax = 2.sm!eickleworkArchBata tp(seoponnlf):n ed"r") elf.mylis eickle.ioad(lp)workArchBata tp.c () " WWWWWWWWWunArrayifanmylis ) " WWWWWeliffmodx 'plaii'self.xMax = 2.at,[]workArchBata tp(seoponnlf):n ed"r") elf.lin e. tp..gadlin e()ct(sef, p stitVerlin [i !lin es, self.ne rchBline = line.sr o) self. selline = ''ialine[0] '#'s, self.ne rchBelf.ttdeDf.ne rchBelf.el self.........datamap( , line.spl: () , self.ne rchBBBBBat,.extene( eata) " WWWWWWWWWunArrayifan.at,) elf. p.c () " WWWWWeliffmodx 'tl tha'self.xMax = 2.tp(seoponnlf):n ed"r") elf.tp..gadlin ().# NETWORK CONFIGURED BY elf.tp..gadlin ().# # wames e.aftro %f. we elf.tp..gadlin ().# # WEIGHTS elf.cig(se1 tVerl #s!lturet self. selltoTtypx ! 'Ispac's, self.ne rchBelf. VerjeinrStru(ltoTsDaRltworkArchBata += [ += [ p..gadlin ().# TO NODE %fworkArchBata += [ += [ltoTbias[j] = ( p..gadlin ()) += [ += [ tVerlS, fii !lturet self. self.........trytworkArchBata += [[[[[[[[[[[[[[[[[ntedateWei g CtedateWei(lS, f n e ltoTn ) += [ tVeri() mrStru(fS.weight) if s sDaRltworkArchBata += [ += [ ctedateWei.wames [i][j] =f (f p..gadlin ().) += [excepeoNenton(ot, h += [ tVeri() mrStru(lS, f sDaRltworkArchBata += [ += [ #.0 += [ tp..gadlin g)ct(sef, pppppppppppppppppcig(+e1 p.c () " WWWWWel self.eoV.sizot, hry('Unknownmodx i !ioadWames F, fenamt)'edmodx) ritVoaveNinton(Toenamt, se,rlf):n lf.pCorrect""" Saves.Hinton( =lf): usn 0 eickle..pCorrect""" sm!eickleworkArchBbasEn =rlf):n .spl: ('.')[0] tf):n (+e".eickle" tp(seoponnlf):n ed'w') eickle.dump( , se,rlp)workArchB p.c () " WWWWWtp(seoponnbasEn +e".ey"ed"w"otp.writl("S, fipyroTbrer.x sm!*\n") p.writl("sm!eickle\n") p.writl("tp(seoponn'%s'ed'r')\n" % lf):n l p.writl("Hinton( eickle.ioad(lp)") p.c () " W etStrucTo load lf)::\npythei -i %s " % nbasEn +e".ey") " W etStruc>>> Hinton(.tt)" ritVloadVateoreF, fenamt, se,rlf):n edcole. Non ede seyNrowe. 1, nelim ' 'lf.pCorrect""" Loadea se of vateore.S, fia lf):. Takesea lf):n edlis of cole you watru(VerNon O er),.ge e sey e seyNrowe.(Ver1O 'mt, se,rlSture !eickl. nruclewo..gadlin ()7rect, [ #.0 .0no.sizs elf s iiLength rits elf .ttdeDf" WWWWWelilCDuig.0[wier # h]hrown.0no.%loadVateoreF,lf. see % 0*dat.0.ttd1eDf" [ xeight)s grt p stitVerli seyN) WWWWWeliffmo c(lture n ed.0no. be_ak )7rect, [ #.0 e 1; [talCift)" rit:.5,.emtextO er new.ttdeDf.0.ttd1 WWWWWeliffmo c.5jr.Nc,.soorkArl= ''ialine[0] new.ttdeDf[rchBata += [ cteoNenton(Arl= += [ new.ttdi() mrStru.0.ttd1ArchBata += [ elfiiLength ritine =eicnew.ttd)tworkAiiLength += [.ttdi() mrStrnew.ttde ' self.....lif serpyTarge (t"Dttdp**arg rchB)7rect,%dn" % .0no 2.at,[]wor iiLength =eicnew.ttd) 2.at,[]workArno. be_ak )7rect, [ #.0 ak l p.writl("Hinton( .ttd +e".ey") ugha h etStruc>>> Hinton(.tt)" ritVloadVateoreF, fenamt, se,rlf):n edcole. Nn ede seyNrowe. 1, sect""" ' 'lfCorrec2.....eself.ac.wrf du self.gadlin """ ... se") " W etStruc>ton(.tt)" VloadVateore [')elfloadt()),apatalf.lota se self.coma> n """ )hry('Unknownmugha hioadWames F, fenamt)'edmodx) ritVoaveNinton(Ton """ e,rlf):.(Ver1O 'mt, se,rlSture !eickl. nrucl):n (+e".ehould p..gadliie , "Cycle..."nel , see WWce2.....eo a, toe.gri e".ehould/large nel) elf. VerntedateWeio if sTd/lawritl("# wames e.aftro %r.x sme".ey") ht) etStruc>>> Hinton(.tt)" ritVloadVateoreF, fenamt, se,rlf):n edcole. Non ede seyNrowe. 1, sea)inter. 'lfCorre du self.gadlia)inter... se") " W etStruc>ton(.tt)" VloadVateore sDaRltworkArchBata += [ += edcole. Non edehry('Unknownm ht) ioadWames F, fenamt)'edmodx) ritVoaveNinton(Toa)intere,rlf):.(Ver1O 'mt, se,rlSture !eickl. nrucl):n (+e".ehoul......lp..gadlia)inte , "Cycle..."nel , see WWce2.....ea)inttoe.gri e".ehould/large nel) elf. VerntedateWeio if sTd/lawritl("# wames e.aftro %r.x sme".ewnmDttdioadWames F, fenamt)'edmodx) ritVoaveNinton(To.ttdea)ints/n """ ) e,rlf):.(Ver1O 'mt, se,rlSture !eickl. nrucl):n (+e".ehouldeol=0lts,ecr.weighn """ )h.,,e0 fii !lturet nel , see WWce2.....eweighn """ Arcelf.elf..........fS.we/large nel) elf. Ver VerntedateWeio if sTd/lawritl("# wames (f p) elf. Verne = ''ialine[ fii !lturet nel , see WWce2.....eweigha)intsArcelf.elf..........fS.we/large nel) elf. Ver VerntedateWeio if sTd/lawritl("# wames (f p) elf. Verne = ''ialine[ e.aftro %r.x sme".ey") DttdpetStruc>>> Hinton(.to Vern() mrS se.ttdea)ints/n """ ) . 'lfCorre du self.Veroc =V, -.t.config(""" o \np( '" +d, sef.x loadT""" ge apatayen,ure !eickl. nrucl)r'..gadlin ()7rect, [ #.0 gadlia)inter..[rchBata +=gadlin """ .." WWWWWelilCDuig.0[wier # h]hrow.ttdeDf.ne rchBelf.el self...... .x .ttd) 2.at,[]woi - o 2.at,[]wogadlin """ i() mrStrchB, seltu" W .ttd[0:i ] self......gadlia)intei() mrStrchB, seltu" W .ttd[i :] self......)7rect, [ #.0 gadlipatalf.lota se self.coma> n """ )hr #rge (te elf.lae".e WWce2.....eweig, nelim ......... # GA supWWceTotal Sumc't, sels, toe.gri s ,[tO..... sr,nelim e du self.Ver sTtypx ' Sumc':lf.xMax =elim self.Ver tVe(nelim ......t) Alayen WWce2.....eweigh ' Sums[nelim celf.elf..nArra tVe(nelim ..!=ea seizs(< .01self.xMax =elim self. Wei i=elim .Verlf.eld[tVercepeoNenton(onel , f, pfiausx,inrvrge nelt.) rra tVe(n......t) 1self.xyTarge (). WWce2.....eweigh ' Sums[ncelf.elf..........rra tVe(f.xyTa)twork seizs(< .01selNenton(onelap( f.xyTargeuce(Numeric.fabs(l'#'s, self.ne rchBelfnela() mrStrf.xyTargeuce(Numeric.(l'#'s, self.ne rchnela() mrStrvata += [ gene.anellf.lae".e seltu" W weig, nelim ......... # GA supWWceTo=elim . ,[tO ' Sums.ri = ataself. sels, t# GA supa)inter. 'lfickle'lel sagepatrerv lf.p ' Sums. du self.Ver sTtypx ' Sumc':lf.xMax =elim self.Ver tVe(nelim .....i [talCDimPlo*e1ppppppfi% targe nelim ..!=e p sti tStr, ,specifi d lif arge nelim . ' self.....lif serpyTarg.xMax =elim self.nArra tVe(nelim ..=+= [ talCDimPlo*e1ppppppfi% targe nelim ..!=e p sti tStr, ,specifi d lif arge nelim . ' self.....lif serpyTarg.xMax =elim self.nArra tVe(nelim ..=+=.t) A=elim self.nArra tVe(nelim ..=+=k seizs(< .01selppppppfi% targe nelim ..!=e p sti tStr, ,specifi d lif arge nelim . ' Wei i Spor nel , f, pfiausx,inrvrge nelt.) rrai d lif arge n..!=e p sti tStr, ,spyTarge ().if arge n.s, self.ne rchnela() mrStrf.xyTargeuce(Numeric.(l'#'s, self.ne rch,spyTarge (). seltu" W n.s, self.ne rchnela() mrStrf.xyTarg, self.ne rcha += [ gene.anellf.lae".eset2.....eweig, p ' Sumssage " WritVlog if s( % (ep ' Sumsn, self.workArchBy liu .l musNamee sNamee weigh ' Sums'ed' ' Sums sNamee weigh ' Sum se1lf.lae".eget2.....eweig, wrgenterlaa elf..r [tOutpus " WritV#space ,[tOkey wrge0 = 2.desi.ge.e, tolf.sys.p ' Sums.has_key(wrgenterlaa elf[ gene.aweigh ' Sums[wrge] self.nAe1 p.c () " WWW#space ineget2.....eV.sizwrgenlf.lae".egetarge weig, p ' Sumnterlaa elf..r [tOutpus " WritVwrgeizs ttde. ,[tO ' Sumseer.weight)s porNamewiwlp..gadli ' Sums rrai d lCTPRare(aweigh ' Sums[w], p ' Sum += [ gene.awa += [ gene.a rits elf#R biaadd2.....eteldel2.....elf.lae".eset2.....eweig, wrge, nelim ......... # GA sup % (eaV#space ,[tOkey wrge0 Bxt. a> biaadd2.....e,t_(Nr# GA supdel2.....eleo, self.pCorrect""" weigh ' Sums[wrge] se=elim sdd2.....e,weig, wrge, nelim ......... # GA supAdd(eaV#space ,[tOkey wrge0 = 2.desi.ge.e, tolf.sys.p ' Sums.has_key(wrgenterlaa elf[ " sel, sel, h: %.4f |VCDimPlo'2.....etkey al #ylp.. bid**argdel2.....e e,rlreetkey.sizwrgenlf.laaaaanAe1 weigh ' Sums[wrge] se=elim stOssage " Key g(sVerlrgeictMe if.work sdel2.....elweig, wrgenterlaa elf..r [tOutDeleteeaV#space ,[tOkey wrge0 = 2.desi.ge.e, tdelaweigh ' Sums[wrge] slta) are(weig, n1, n2(et, hrycDimPlo, [tal) are Wrwo toLly. Lpus " W1.s agees gene re (edv.sn l") !i off geuce(opo rite.(Ver1O 'mt, se,rlS fii !lturefgene iv1..!=eae iv2(e s ''ialine[ ht)s, ylp..zip(n1, n2(et, hrycDilturefge The x - y o looff geuce(opo's, self.ne rchBelf s ''ialine[ be_ (f p) elf.#.soork ' Sums'elf.e Weinelim elf. fii !lturet fge The v1 - v2 o looff geuce(opo's, self.ne rchBelf s ''ialine[ be_ l'#'s, self.ne rchBelf be_ be_ (f p) elf.Belf s clv.siSRN( se(et, hr 'mt, se]Tntbclv.si se.iSRNagoreFould iNintf cursef, -i %s "s byt, sefflt lf.et, hr if ssear f.pCore,ra p( TsDaRlt Th.acttbclv.st, seadd(enterlaa.; eTe lfHintoworkArc,""" p( TsDaRls. 'mt, self..n.t)ulim s_ArchB___") !(et, hrycDimPlo, [tal) n.t)ulim .SRNttb-clv.s.iSterlaa.; eTe gene ntoworkArceaddee0 = 2.desi.ge.e, t se._ArchB___") !( l") !i off ; eTe gLength 1 l") !i off ) Dc rdnSreTe self. l") !i off largSreTe selfselflargstlength of; eTe g ( p. toe.gri weigh toworkArce..[rchBata +=gadlin irchBp( T 1 l") !i off p( Cflt lf. 1 l") !i off p( L, self= {}elf comPloe lis ofe . Melf r.NSVd.et, hr o l") !i t, self . M...l e__") ! ' rib ritlf.lae".e towork(weig, f.x a[i age " WritVlog if s( % (eptoworkArceb ee etn' selfo, self.pCorrect""" weigh toworkArca() mrStlf.x a[i sme".ewetAargSreTe sdr, l) +d, sesigmoid_etSme_offse )Aargmsea ]hR ste.gri(edlturength ofa; eTe gtextngth ofi.ge.e, to e/toL writlLo eeayemo, self.pCorrect""" weighlargSreTe self= 2._me".ewetS eTe gLengthdr, l) +d, sesigmoid_etSme_offse )Mact(sefewets off ; eTe gLengtho, self.pCorrect""" weigh; eTe gLength = 2._me".ewetI irchBp( dr, l) +d, sesigmoid_etSme_offse )C) p( TsDaRleb ee ; eTe ge du self.gadlin irchBp( T = 2._me".ewetL Dc rdnSreTe sdr, l) +d, sesigmoid_etSme_offse )Set off ) Dc rdnSreTe steac .Ns #siMSDaRs Dc rdnSreTe self= 2.__") !0. e__") !..n.t)ulinrossV.smodift lf.SRN-i %s " sddThreeL, sel(weig, f.c,.et,c cesigmoid_etSme_offse )C ritVeeewieturevelaponn'%s' ,[tO. p( TsDaRlt, self.pCorrect""" weighldd(N 's'o ', f.c))ect""" weighlddchBp( dN 's'p( ',.et,c), 'h[0,1]."ect""" weighldd(N 's'h[0,1].,.et,c)"ect""" weighldd(N 's' ' ce"ect""" weighif s sDs'o ', 'h[0,1]."ect""" weighif s sDs'p( ',.'h[0,1]."ect""" weighif s sDs'h[0,1].,.' ') sddSRNL, sel(weig, f.c,.et,c cesigmoid_etSme_offse )WrapsiSRN.ddThreeL, sel()) !.. atibilityt, self.pCorrect""" weighlddThreeL, sel(f.c,.et,c ce sddchBp( dr, l) sDaRl,.et, hrLsage = 'h[0,1].,.ord[ '%lf.sy) ritVpostact % dd(eaVp( TsDaRlt Natayen,rgskeep off p( L, selfworkArchBy uprgsd ri. : : "" seifyt()), a) # grttro kivR lf.sel, o : Make urrct__ st=args.ct_ self..... lture.et,o seifyt()), a) # grttro kivR lC p( TsDaRleb , py: Mak 'O self..... lture.et,o 'O selltureTtypx e urrct__ st=args.ct_ self..... Bata += [ eifyt()), a) # grttro kivR lC p( TsDaRleIGURED py: Mak 'O self..... ltlta) chBp( dr, l) +d, su= .5esigmoid_etSme_offse )C) (edltu p( TsDaRlebfewetinros p( TsDaRle # (ltaault) +d, su0.5. 1 : "" seiter.Ylf.t[i]Tnterln irchBp( 's, self.ne rch.sys.e chBp( d [quio, go c.5] "ofqurength .acritVlia lext. be donrosatesaed : "" se#space Ylf.t[i]Tnterln irchBp( 's, self.ne rch.sys.e chBp( d [quio, go se. to " elf.post opinterdfet r.Ncgoecepeumerisi.lotraam exeNint n """ )x)ct(sef, p stiseVeeeeeee.1, col=0weighn """ Apa) #Arc ' self.....lif serpyTar e..(iter.+ 1)"*rIspac\'. apat" % f.coma> WWce2.....eweighn """ A*, se] self......yTar ff pyol=0Veeeeeee, weighn """ A*, se] # dlf.lae".e if serpyTarge numinterdeD r t[tOutpue DoeI(edpatayen,eque.") lf.pCo Anylneiessary.post se. if serpyTarge numinterdMax = 2.e.R ] # self.ac Enables; eTe lf o)),0 se.e.R ] =" RSSDat l=0,] "off patalf.lota..[rterlaa elf[ " SRN sTtypx Ne.ioadlf.lo S, filhelt0), . Ur(:" erR sioadret[i]Tntt.Make urioadlf.lo [quio, go] "off ord[ '%s'" )::\npytE. p. #", elf. p., "cye ... self.Ver sTtypx atesaedIe , "Cycle..."oma> [i]omapalf.lod [quio, gotssETa, tolure.e sNBoxsse: workArchB""" ; WWce2.....eweighn """ Ai] /. p.writl("#.ct toe.gri seal) self.act) #nfSm e_evDiag)ct(sef, psel, seeeee e__"))))))))))))))))))))))))))))))))))2.....e #", i.+ 1class Connect] "off ; eTe gLength 1 : ""....yTar] "off e__v.st[i]Tnterla Dc rdnSreTe s see % 0*dat....yTar ff p MS: tStl thaaaaaaaa#e '#, () sTh lf.eepeoNenton(ot, h r rectetS .flush 'pickle'self "off ; eTe gLength > 1 : ""....] "off e__v.st[i]T sTtypx a Dc rdnSreTe s see % 0*dat.... ff p MS: tStl thaaaa '#'s, self.ne rch] "off e__v.st[i]T sTtypx batch += [.... ff p MS: tStl th] "off ; eTe gLength if1ox)ct(sef, p s] "off e__v.st[i]Tnterlbatch += [ ff p MS: tStmum(Nt ),!lssETa, eNBox].et,o,)o[i] i_A nru__ if __main__Box #) n-x: SeNint0 ses #)(c) 2001, D.S. Blank #)BrynS, wr) llegts elf#Rhttp://eme=0nt.brynm wr.edu/ nterlask(eTes... B e_eTes... , '[y/n/q] ' sDaRltworams'edrectetStruc--More-- .ct goreR large srt ams'ex = 2. #sayer, toL(se0ta += [ gene.aams'ex =y'__") !nrge seta += n.wetS ed(114366.64ta += n.lddThreeL, sel(2,t,o,1ta += n.wetugha hR[[ [t.0] sDaRltworkArchBata[ [1.0] sDaRltworkArchBata[1 [t.0] sDaRltworkArchBata[1 [1.0]sDaRltworkArchBata]ta += n.wetol=0[[ ] sDaRltworkArchBataa[1 ] sDaRltworkArchBataa[1 ] sDaRltworkArchBataa[0.0]sDaRltworkArchBataa]ta += n.wetRerlaaR10hr irlask("Doeia lf):. , seest oitV#space WWcengeneutility?"B ne T seta += ne .lddThreeL, sel(3,t,o,3ta += ne .wetoeuce(opo(.4o load lf)::\npytSetinrosp ' Sumsn, sriti0,0,0;Wrwo 1,1,1... self.ne .wet2.....e {"rit" :a[0 [talS] "rwo" :aa[1," 1]} o load lf)::\npyne .get2.....e"rit"o load lf)::\npyne .get2.....e"rwo"o load lf)::\npytWWc lf.p ' Sums... self.::\npyne . WWce2.....e["rit" "rwo"]ta += ne .wetugha hR[ "rit" "rwo" ]ta += ne .y") ugha (0ta += ne .atretFlag of load lf)::\npytone[g]:et p M, sel::\npyne ["n """"].getAureTtypx ta += ne .y") ugha (1ta += ne .atretFlag of load lf)::\npytrwo g]:et p M, sel::\npyne ["n """"].getAureTtypx ta += ne .dd2.....e,"1"o,1ta += ne .dd2.....e,"0"o,0o load lf)::\npytSetinrosp ' Sumsn, s.t[i]T1... self.ne .wetugha hR[ [ "0"o,"1"o,"0" ] ["1"o,"1"o,"1"]]o load lf)::\npytTes..ros WWce2.....ee ery seltu" W ... self.::\npyne . WWce2.....ene .n """ A0]o load lf)::\npyne . seltu" W ne . WWce2.....ene .n """ A0]ota += ne .y") ugha (0ta += ne .atretFlag of load lf)::\npyt0 1P0[g]:et p M, sel::\npyne ["n """"].getAureTtypx ta += ne .y") ugha (1ta += ::\npyt1 1 1 g]:et p M, sel::\npyne ["n """"].getAureTtypx ta += ::\npytnc.wok upof .,o,.3,t.2 .ac"o,ne .getarge [.,o,.3,t.2]o load lf)::\npytnc.wok upof .8,t.7,t.5 .ac"o,ne .getarge [.8,t.7,t.5]o load lf)::\npytnc.wok upof .8,t.9, 1 g]c"o,ne .getarge [.8,t.9, 1]o load lf)irlask("Doeia lf):. , seest savv.st[i]T ataselfofotal Sumc't, sels,[i]Ta)inte?"B lf)::\npyne . seltus lf)::\npyne . seltued : ""ne .wetugha hR['one','rwo' ' ne .wetol=0[['1'],['0'] ' ::\npytFArchBbas, swnmt, sels:et p M, selllllkArchBbasedrectetStruc--More-- titVerlin [i !lin es,::\npytSavv.stI sels:et ne .n """ ' ne .wnmugha hioadWamn") p.wri ne .y") ugha etStruc>ton(.tin [i !lin es,::\npytLataselfI sels:et ne .n """ ' ::\npytFArchBbas, swnmta)inte et p M, selllllkArchBbasedrectetStruc--More-- titVerlin [i !lin es,::\npytSavv.stT)inte et ne .a)inte ' ne .wnm ht) ioadWamn") p.wri ne .y") ht) etStruc>ton(.tin [i !lin es,::\npytLataselfT)inte et ne .a)inte ' irlask("Doeia lf):. , seest savv.st[i]T ataselftal Sumc't.ttd?"B lf)::\npytSetinros, sels,[i]Ta)inte... self. ne .wetugha hR['one','rwo' ' ne .wetol=0[['1'],['0'] ' ::\npytFArchBbas, swnmt.ttd et p M, selllllkArchBbasedrectetStruc--More-- titVerlin [i !lin es,::\npytSavv.st.ttd et lf)::\npyne .n """ ' ::\npyne .a)inte ' ne .wnmDttdioadWamton(.tin [i !lin es,::\npytLataself.ttd et lf)ne .y") DttdpetStruc>kl. nrucl1in [i !lin es,::\npyne .n """ ' ::\npyne .a)inte ' irlask("Doeia lf):. , seest savv.st[i]T ataself, sels,[i]Ta)inte ,[tOXOR?"B ::\npytFArchBbas, swnmt, sels:et p M, selkArchBbasedrectetStruc--More-- titVerlin [i !lin::\npytSavv.stI sels:et n.n """ ' n.wnmugha hioadWamn") p.wrin.y") ugha etStruc>ton(.tin [i !lin::\npytLataselfI sels:et n.n """ ' ::\npytFArchBbas, swnmta)inte et p M, selkArchBbasedrectetStruc--More-- titVerlin [i !lin::\npytSavv.stT)inte et n.a)inte ' n.wnm ht) ioadWamn") p.wrin.y") ht) etStruc>ton(.tin [i !lin::\npytLataselfT)inte et n.a)inte irlask("Doeia lf):. , seest savv.st[i]T ataselfXORt.ttd?"B ::\npytFArchBbas, swnmt.ttd et p M, selkArchBbasedrectetStruc--More-- titVerlin [i !lin::\npytSavv.st.ttd et ::\npyn.n """ ' ::\npyn.a)inte ' n.wnmDttdioadWamton(.tin [i !lin::\npytLataself.ttd et n.y") DttdpetStruc>kl. nrucl1in [i !lin::\npyn.n """ ' ::\npyn.a)inte ' irlask("Doeia lf):. , ssee.soorkeest es gen?"B ::\npyolf.ro AureTtypx :' n.=0teL'o ').getAureTtypx ta += ::\npytSetinros......l, s.5t n.=0teL" ") pyol=0[.5]o load lf)::\npylf.rootfT)inte ' n.=0teL' ').=0ol=0 p.wrin. s(et, hrycDimPlo, [t::\npylf.rootfTSS ().) ' n.TSSe__") " ")mPlo, [t::\npylf.rootfet,o,)o ' n.=0et,o,)oL' ') irlask("Doeia lf):. , sru XORtBACKPROPoponn'%s'intBATCHzot, ?"B ::\npytXORtB ()m(Nt zot, :o..............................t n.wetBNt (1ta += n.atret p.wrin.retEpsilon(0.5 p.wrin.retMongenum(.975 p.wrin.retRerlaaR100ta += n % nbasE ::\npyt=0e__") ' ')e..tss sTn ) :" n.=0e__") " ")mPlo, [t::\npyt=0e__") ' ',.' ') :" n.=0e__") " "o," ")mPlo, [t#keest crossf.xidlf.pCo))))))))))))))))))))))))))))))))) load lf)::\npytTes..roscrossf.xidlf.pC.. savv.stponn'%s'..R ]'int'seNint.cv'...t n. e__v.stlf. l") !i n. rossV.xidlf.pCSeNintRT 1 l") !i #son(Ton "seNint.cvt n.w.R ] = n. e__v.stlf1 l") !i n. rossV.xidlf.pCSeNintRT 0n [i !lin::\npytLataselfcrossf.xidlf.pCo ( 'seNint.cv'...t n. ataCrossV.xidlf.pC("seNint.cvt)mPlo, [t::\npytet,pus:" n. rossV.xidlf.pCet,pus irlask("Doeia lf):. , sru XORtBACKPROPoponn'%s'intBATCHzot, ,[tO ross f.xidlf.pC?"B ::\npytXORtB ()m(Nt zot, :o..............................t n. rossV.xidlf.pCet,puse..{"n """" :a[0.1 [t.1Tl") !i n. rossV................lB. savv.)))))))))))))a\npytXORtB an. rossV.xid !i 3. ro3sV................lB. savv.)))))))))))))a\npytXORtB an. rossV.xid !i 4. ro4sV................lB. savv.)))))))))))))a\npytXORtB an. rossV.xid !i 5. ro5sV................lB. savv.)))))))))))))a\npytXORtB an. rossV.xid !i 6. ro6sV................lB. savv.)))))))))))))a\npytXORtB an. rossV.xid !i 7. ro7sV................lB. savv.)))))))))))))a\npytXORtB an. rossV.xid !i 8. ro8sV................lB. savv.)))))))))))))a\npytXORtB an. rossV.xid !i 9. ro9sV................lB. savv.)))))))))))))a\npytXORtB an. ):\npytXORtB ()m(Nt zot, :o..............................t n.wetBNt (1ta += n.atret p.wrin.retEpsilon(0.5 p. p.pytLataselfcroswrin.retEps....in.retEpn(0.5 p.wrin.retMongenump. p.pytLataselfcroswrin.retEpstworkArchBataa[0.0]sDaRltworkAret,pus:" n. rossV.xidlf.pCet,pNON-') irlask("Doeia lf):. , sru XORtBnon-CHzot, ,[tO ross f.xidlf.pC?"B ::\npytXORtB ()m(0t zot, :o..............................t n.wetBNt (1ta += n.atret p.wrin.retEpsiln(0.5 p.wrin.retMongenumhBataa[0.0]sDaRltworkAret,pus:" n. rossV.xidlf.pCet,pNON-') irlask("Doeia lf):. , sru XORtBACia lf):. , sru XORtBnon-CHzot, ,[tO ross f.xidlf.pC?"B ::\npytXORtXORtB ()m(0t zot, :o, :o..................................t n.wen.wetBNt (1ta += n.atret t p.wrin.retEpsiln(0.5 enump. p.pytLataselfcroswrin.retEps....in.retEpn(0.5 p.wrin.retMongenumenump. p.pytLataselfcroswrin.retEps0etMongenumhBataa[0.0]sDaRltworkAr 'XORt_xidl().ect""u XORtBACia ln.XORt_xidl([ssee.soorkeest es gtugha hR['one','rwo' :\npylf'%s'.write(n.y") ") pyol=0[B ::\npyolf.rne','rwo' H p( L, sel.en.y") ") ghif s s[B ::\npyolf.rne','rwo' Nowelf.act) #)ini+= ly.xidlf g( Tcepe ::\npytXORtXORtBXORt_xidl([ssee.soorkeeghif s stugha hR['one','rwo' :\npylf'%s'.write( (.!=e p t gen sef, pd)n.y")) ") pyol=0[B ::\npyolf.rne','rwo' H p( L, sel.e (.!=e p t gen sef, pd)n.y") ") ghif s s[B ::\npyolf.rne','rwo' Nowe +d, su=f p( L, sel.ee ::\npytXORtXORtB ") ghif s sr if ssear f. ed(114366ugha hR['one','rwo' :\npylf'%s'.write(n.y") ") pyol=0[B ::\npyolf.rne','rwo' H p( L, sel.en.y") ") ghif s s[B ::\npyolf.rne','rwo' Nowelf.act) #)ini+= ly.xidlf g( Tcepe ::\npytXORtXORtBXORt_xidl([ssee.soorkeeghif s stugha hR['one','rwo' :\npylf'%s'.write(n.y")) ") pyol=0[B ::\npyolf.rne','rwo' H p( L, sel.en.y") ") ghif s s[B ::\l1in [i !lin es,::\npyne .n """ ' :us:ANDxidlf.pClask("Doeia lf):. , dselfT)iet, MS: 2.e.R ::\npytXORt lf):. , seest oitV#sp toL(se0ta += [ gentV#sp urevelaponn'%s' ,[2)) gentV#sp urevelaponn ) 1)) gentV#sp ,.et,c)"ect""" :" n.=st oitV#sp toL= n.wetS ed(1workA ed(1etol=Bata[0tol=Bata[etol].=st oitV#sp toL.0] sDaRltworkAtworkAtworkAtetol].=st oitV#sp toL.......t =st oitV#sp toL. setros =st oitV#sp toLwrin.retEps =st oitV#sp wrin.re tMongenumhBataa[0.0]sDaRltworkAr p.writaa]tareviousxidlf.pClask("Doeia lenumh iatl thadmodx rectf):. , Pthad)))))))))))e ::\npytXORtXOR("Doeia lf):. , seest savv.s (sn 0 ei)l=0[['1'],['0'] ' ::\npytFArchBbas, swnmt.ttd et p M, selll+d, su=reNB Tcepe ::\npytXORtXORtB #[wect""" wct"""B 'mt.ttd et p #tarevious # ip tf.pCetlt lf +t gd ,[tO 'pof, pstMongenumenump. " WWWW ' ::\npyne .a)inte ' ::\npytXORtXOR" o \np( '" writl( 0 eicetMongenumenump selmodx 'pickle'self.xMax = 2.sm!eickleM, sellldlf.adas ::\npytXORtXORtB I, psel, se(1etMongenumenump. dlf.pCSes,::\npyne .n """ ' rin.:us:reTekAr s[ diMfyqcDimPl1,2,3 ne ,3,2lask("Doeia lf):. , reTeO ross f.xidlf.pC?"B s f.xidlf.pC?"B ::\npytXORf):. , Itweigh 'ptLaibl, seeperf= ly. s[ diMfyql) +d,::\npytXORf):. , 1,2,3 ne ,3,2 beca..... sea 1 ei W1.ea 2elf3'ia::\npytXORf):. , 2. ::\npytXORt lff est oitV#sp toL(se0ta += [ gentV#sp ure'h[0,1]."e3,2,3 gentV#sp o l")ect""" :" n. gentV#sfyq # h]1 ne srit1e sritit1length of; q2# h]1 ne sritit1erit1e ]st oitV#sp toL= n.wetSfyq ,; q2]est oitV#sp toL ge du 1)st oitV#sp toLwrin.retEps n.atret p........t 1)st oitV#sp toL (1ta += on(0.5 p. p. ()m(Nt zot, :o..toL. setros n.atret p.StopPercta tro7)st oitV#sp toLwr p...o)m(20lon(0.5 p. p.wr p.Limi W ne . W#tB I, psel, se(1etMongenum#tBe sd3tMongenumtem o est oitV#sp wrin.retMongenum r o e -mtem o, [t#keest cros :,m res,::\npyne .n """ ' hB""-lureTbed onf3'bit'bi(eaVselfofotlask("Doeia lf):. , AB""-lureTbed xidlf.pC?"B s f.xidlf.pC?"B ::\npytXORt lf):. , seest oitV#sp toL(se0ta += [ gentV#sp ure WWcengeneuti2,3 gentV#sp toL= n.wetS 1 ne kAtwt1e ]Atwtit1lAtet1e ]At1tit1lAtwt1e1lAtet1e1]]est oitV#sp lureTbed)ect""" :" n. gentV#sp toLwrin.retEpss n.atret p........t 1)st oitV#sp toL (1ta += o.9n(0.5 p. p. ()m(Nt zot, :o..toL. setros n.atret p.StopPercta tro9n(0.5 p. p.wr p...o)m(10lon(0.5 p. p.wr p.Limi 2est oitV#sp wrin.retes,::\npyne .n """ ' :uo idlf.pClask("Doeia lf):. , R O ross f.xidlf.pC?"B s f.xidlf.pC?"B ::\npytXOR# cdd idlf.pCk("Doeia l lff est oitV#s toL(se0ta += [ gentV#s toL.ene .n{"john" msn, sriti0)::\. savv.)))))))))))))a\npytXO"likd,:msn, sriti1ti0,0 savv.)))))))))))))a\npytXO"meaV" msn, sr1sriti0,0 savv.)))))))))))))a\npytXO"i,:msn,1sriti0):0,0 savv.)))))))))))))a\npytXO}. gentV#sfize "" s 1]} o loadjohn") gentV#s ',.'h[0,1]."ecize,sfize *lity -.t.config("" ',.( reTtypx wames ",sfize *li(fS.weight) ,.et,c)""ghif s [t::\wames ".config("" 'ureTbed)ect""" :" n. gentV#s 'ureTbed)ect""" wei::\wames n. gentV#s 0o load lf)::\njohn",O"likd,:,O"meaV" ,0 savv.)))))))))))))a\npytX[O"meaV",O"likd,:,O"john" ,0 savv.)))))))))))))a\npytX[O"john",O"i,:,O"john" ,0 savv.)))))))))))))a\npytX[O"meaV",O"i,:,O"meaV" ,0 savv.)))))))))))))a\npytX]est oitV#s#xidlf.pCe 1 l") !paras ofs: gentV#s 0o ge du 1)st oitV#s 0o wrin.retEpsiln(0.5 0o .......t 1)st oitV#s 0o (1ta += o.ln(0.5 0o ()m(0t zot, :o# enlf1 l")i ofia: gentV#s 0o . setro gentV#s toLStopPercta t1.ln(0.5 0o wr p...o)m(50lon(0.5 0o wr p.Limi W ne . W# rin.: gentV#stem o est oitV#s wrin.retMongenum r o e -mtem o, [t#keest cros :,m res,::tV#s 0o ge f1 (on(0.5 0o I, psel, se(1etMongenumin [i !lin::\npyn.n """ (l th] )taa]tareviousxidlf.pClask("Doeia lenum("Doeia lf):. , seest saidlf.pCe(sn 0 ei)l=0[['1'],['0'] ' ::\npytFArchBbas, swnmt.ttd et p 0 " WWWW ' ::\npyne 0dlf.pCSeNintRin [i !lin::\npyn.n """ t sa = 2.tp(oftareviousxidlf.pClask("Doeia lenum("Doeia lf):. , seest sa = 2.tp((.wts)l=0[['1'],['0'] ' ::\npytFArchBbas, swnwritlwts"mt.ttd et p 0 cig(+\npytSavv.stT)inte et ne .a)\npyne .n """ ' ryinte et nlf.l= 2.tp("" mtext0 d (l th]dlf.pC)lask("Doeia lenumenum("Doeiae ' stl tarums.ylf.l= 2.tp. ::\npytXORtXOR p ppppcig(+ ne .wnm ht) ioadWamn") yne 0dlf.pCSeNintRin [i !lin::\npyn.n """ t sa = 2.tp(oftareviousxidlf.pCet,pplin.:f mrStlask("Doeia lenum("Doeia lf):. , seest sa = 2.tp((.wts)l=0[['1'],['0'] ' ::\npytFArchBbas, swnwritlwts"mt.ttd et p 0 cig(+\npytSavv.stT)iweiplin.'nte et ne .a)\npyne .n """ ' ryinte et nlf.l= 2.tp("" mtext0 d (l th]dlf.pC)lask("Doeia lenumenum("Doeae ' plin.:s.ylf.l= 2.tp. ::\npytXORtXOR p ppppcig(+ ne .wnm ht)weiplin.'nte et ne .a)yne 0dlf.pCSeNintRin [i !lin::\npyn.n """ t sa = 2.tp(oftareviousxidlf.pCet,pt 1 l:f mrStlask("Doeia lenum("Doeia lf):. , seest sa = 2.tp((.wts)l=0[['1'],['0'] ' ::\npytFArchBbas, swnwritlwts"mt.ttd et p 0 cig(+\npytSavv.stT)iweit 1 l'nte et ne .a)\npyne .n """ ' ryinte et nlf.t 1 l:s.ylf.l= 2.tp("" mtext0 d (l th]dlf.pC)lask("Doeia lenumenum("Doeiae ' t 1 l:s.ylf.l= 2.tp. ::\npytXORtXOR p ppppcig(+ ne .wnm ht)weit 1 l'nte et ne .a)yne 0dlf.pCSeNintRes,::\npyne .n """ ' rin.:unownmodx i bo, p s[ d 1 lB""-lureTbedlask("Doeia lf):. , reTe 1 lB""-lureTbed O ross f.xidlf.pC?"B s f.x::\npytXORt lff est oitV#sp toL(se0ta += [ gentV#sp ure'h[0,1]."e3,3,3 gentV#sp urevelaponnlureT self,3 d lf)::\npylf.1]."ect""" weiglureT selfest oitV#sp lureTbed)ect""" iglureT selfest oitV#sp o l")ect""" :" n. gentV#sp toL= n.wetS 1 ne srit1e sritit1sritit1erit1e sr1sne k]est oitV#sp toL ge du 1)st oitV#sp toLwrin.retEpss n.atret p........t 1)st oitV#sp toL (1ta += o.3 gentV#sp toL ()m(Nt zot, :o..toL. setroNt zot, :o..toLStopPercta tro7)st oitV#sp toLwr p...o)m(20lon(0.5 p. p.wr p.Limi W ne . Wp. p.O)::\npytE. p(Nt zot, :otem o est oitV#sp wrin.retMongenum r o e -mtem o, [t#keest cros :,m res,::tV#sp toL ge f1 (on(0.5 tB I, psel, se(1etMongenumin [i !lin::\npyn.n """ (l th] )taa]tareviousxidlf.pClask("Doeia lenum("Doeia lf):. , seest saidlf.pCe(sn 0 ei)l=0[['1'],['0'] ' ::\npytFArchBbas, swnmt.ttd et p p. " WWWW ' ::\npyne .xidlf.pCSeNintRin [i !lin::\npyn.n """ t sa = 2.tp(oftareviousxidlf.pClask("Doeia lenum("Doeia lf):. , seest sa = 2.tp((.wts)l=0[['1'],['0'] ' ::\npytFArchBbas, swnwritlwts"mt.ttd et p n 0 cig(+\npytSavv.stT)inte et ne .a)\npyne .n """ ' ryinte et nlf.l= 2.tp("" mtext0 d (l th]dlf.pC)lask("Doeia lenumenum("Doeiae ' stl tarums.ylf.l= 2.tp. ::\npytXORtXOR p n ppppcig(+ ne .wnm ht) ioadWamn") yne .xidlf.pCSeNintRin [i !lin::\npyn.n """ t sa = 2.tp(oftareviousxidlf.pCet,pplin.:f mrStlask("Doeia lenum("Doeia lf):. , seest sa = 2.tp((.wts)l=0[['1'],['0'] ' ::\npytFArchBbas, swnwritlwts"mt.ttd et p n 0 cig(+\npytSavv.stT)iweiplin.'nte et ne .a)\npyne .n """ ' ryinte et nlf.l= 2.tp("" mtext0 d (l th]dlf.pC)lask("Doeia lenumenum("Doeae ' plin.:s.ylf.l= 2.tp. ::\npytXORtXOR p n ppppcig(+ ne .wnm ht)weiplin.'nte et ne .a)yne .xidlf.pCSeNintRin [i !lin::\npyn.n """ t sa = 2.tp(oftareviousxidlf.pCet,pt 1 l:f mrStlask("Doeia lenum("Doeia lf):. , seest sa = 2.tp((.wts)l=0[['1'],['0'] ' ::\npytFArchBbas, swnwritlwts"mt.ttd et p n 0 cig(+\npytSavv.stT)iweit 1 l'nte et ne .a)\npyne .n """ ' ryinte et nlf.t 1 l:s.ylf.l= 2.tp("" mtext0 d (l th]dlf.pC)lask("Doeia lenumenum("Doeiae ' t 1 l:s.ylf.l= 2.tp. ::\npytXORtXOR p n ppppcig(+ ne .wnm ht)weit 1 l'nte et ne .a)yne .xidlf.pCSeNintRes,::\npyne .n """ ' sef, pdiMfize , seTochBp( dr, t,p3-3-3xidlf.pClask("Doeia lf):. , dself3-3-3xidlf.pC ::\npytXORt lf):. , seest oitV#sp ure WWcengeneuti3,3 gentV#sp ..................'rwo' NewTochBp( dr, fizel=0[['1']fize lfCor ::\npytFArchBbas, swnCSeNintRin ox)ct(se(' .Ver sTtypx ' Sumfize n. e__vCef, ' size , s g( Tcepe ::\npytXORp) elf.#.# ''iassV.thr Sumxidlfsef, pSize t,pC.1]."essV.sefflt lf. gentV#sp sef, pengenSizect""" wei -.t.config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %p ..........es,::\npyne .n """ ' :f, p stio ''iassV_v.st self.seffllask("Doeia lf):. , Tr t sdd ap( dr, ask("size zeroe ::\npytXORp) elf.#.gmseelaponnbrok wei0.config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::\npytXORf):. , Tr t sef, pdap( dr, eTe ize eL, seseesize zerolask("Def, pSizeBba ::\npytXORgmseelaponnbrok wei3 gentV#sp) elf.#.g.Def, pSizeB0.config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::\npytXORf):. , Tr t s1, n7,t.i1].t)ulimap( dr, elf r.NSV eLat doesth [exista ::\npytXORgmseelaponnbrok wei3 gentV#sp) elf.#.g.7,t.i1].t('' Alf r.NSV'.config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::\npytXOR# ox)V eLat [0] '#'s.....s' n.=0flag:\npytXORf):. , Tr t s1, n7,t.i1].t(' n.=0') w sel. n.=0hasline[ ( dr,ta ::\npytXORgmseelaponnbrok wei3 gentV#sp) elf.#.g.7,t.i1].t(' n.=0')config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::\npytXORf):. , Tr t s1, nr if ssear f.))ulimap( dr, who....( L, sel.es gen : r,ta ::\npytXORgmseelaponnbrok wei3 gentV#slr if ssear f. n.wep) elf.#.g.r if ssear f. 2)config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ : %:\npytXORf):. , Tr t s1, nTsDaRleb , ))ulimap( dr, who....( L, sel.es gen : r,ta ::\npytXORgmseelaponnbrok wei3 gentV#slr if ssear f. n.wep) elf.#.g.TsDaRleb , += = = ])config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::\npytXORf):. , Tr t s1, nTsDaRleb , ))t,c n arrayri(edlta += esizea ::\npytXORgmseelaponnbrok wei3 gentV#sp) elf.#.g.DsDaRleb , += = ])config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::\npytXORgmseelaponnbrok wei3 gentV#sp) elf.#.g.DsDaRleb , += = = = ])config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::\npytXORf):. , Tr t s1, ntoL.0] sDaR))ulimap( dr, who....( L, sel.es gen : r,ta ::\npytXORgmseelaponnbrok wei3 gentV#slr .0] sDaR n.wep) elf.#.g.r .0] sDaR 2)config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ : %:\npytXORf):. , Tr t s1, nTsDa.0] sDaR))ulimap( dr, who....( L, sel.es gen : r,ta ::\npytXORgmseelaponnbrok wei3 gentV#slr .0] sDaR n.wep) elf.#.g. ::\npytSet = = ])config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::\npytXORf):. , Tr t s1, nTsDa.0] sDaR))t,c n arrayri(edlta += esizea ::\npytXORgmseelaponnbrok wei3 gentV#sp) elf.#.g.DsDa::\npytSet = ])config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::\npytXORgmseelaponnbrok wei3 gentV#sp) elf.#.g.DsDa::\npytSet = = = ])config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::\npytXORRRRRRRRRRRRRRRRRRRRRRRRRRes,::\npyne .n """ ' :arraypyf.l thunArraypyflask("Doeia lf):. , dselfTf3-3-3xidlf.pC ::\npytXORt lf):. , seest oitV#sp ure WWcengeneuti3,3 gentV#sf):. , Arraypyf)))))))))))e ::\npytXORarrayr=sp urraypyfeest oitV#s.......Array('ssf. Arrayweiurray, 6 gentV#sf):. , unArraypyf)))))))))))e ::\npytXORn.unArraypyf(urray..........'rwo' Now :unArraypyf())ulimapshatlgenea ::\npytXOR chBray[-1:] gentV#sp) elf.#.n.unArraypyf(urray..........''iaeIndexstio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::\npytXORf):. , Now :unArraypgf())ulimlo)))genea ::\npytXORurray.etdlf.(.....0= ])config(""p) elf.#.n.unArraypyf(urray..........''iaeIndexstio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::es,::\npyne .n """ ' :s:et n.n ''iassVlask("Doeia lf):. , dselfTf3-3-3xidlf.pC ::\npytXORt lf):. , seest oitV#sp ure WWcengeneuti3,3 gentV#sf):. , s su=reet p M,)e ::\npytXORp) elf.#.n. seltu" W ne . W''iaeIndexstio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::\npytXORes,::\npyne .n """ ' :aureTbedn.t)u, [tal) n.t)''iassV_lask("Doeia lf):. , dselfTf3-3-3xidlf.pC ::\npytXORt lf):. , seest oitV#sp ure WWcengeneuti3,3 gentV#sp toL= n.wetS 1 1e1]]est oitV#sp lureTbed)e""" we :" n. gentV#sf):. , Attem t t lureTbed f p a[i age " Wse ::\npytXORp) elf.#.n.f, psel,0.config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::\npytXORne2.....ene .n """ A0p lureTbed)ect""" ghif s sDs'o 'f):. , Attem t t lureTbed a g( Tcepse ::\npytXORp) elf.#.n.f, psel,0.config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::\npytXORf):. , dselfreTe self=f.x::\npytXORt lff est oitV#sp ure'h[0,1]."e3,3,3 gentV#sp toL= n.wetS 1 1e1]]est oitV#sp o l")e""" we :" n. gentV#sf):. , Attem t t s[ df p a[i age " Wse ::\npytXORp) elf.#.n.f, psel,0,0.config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::\npytXORne2.....ene .n """ A0p o l")ect""" ghif s sDs'o 'f):. , Attem t t s[ d a g( Tcepse ::\npytXORp) elf.#.n.f, psel,0,0.config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::es,::\npyne .n """ ' :verpyfI verpyfTeia lf):. , seest sf):. , dselfTf3-3-3xidlf.pC ::\npytXORt lf):. , seest oitV#sp ure WWcengeneuti3,3 gentV#sp) elf.#.n.verpyfI (.config(""''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::\npytXORp) elf.#.n.verpyf.5]o load lf)::\np''iaef, p stio errk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::es,::\npyne .n """ ' :):. , sstio ''iassV_lask("Doeia lf):. , dselfTf3-3-3xidlf.pC ::\npytXORt lf):. , seest oitV#sp ure WWcengeneuti3,3 gentV#sf):. , s su=e r e> " s1, ede ::\npytXORn.toL ge du on(0.5 tB Sh (-Nt zot, :o..toLAB""" ; < on(0.5 p) elf.#.n.idlf.pCSeNintR''iaength if1terrk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::es,::\npyne .n """ ' :verpyfArchit."eurss lask("Doeia lf):. , dselfn mrSlf3-3-3xarchit."eurs ::\npytXORt lf):. , seest oitV#sp ure WWcengeneuti3,3 gentV#sp) elf.#.n.verpyfArchit."eurss SeNintR''iaeE'iassV1terrk("Doeia lenum("Doei u(+ ''iassV..y")errconfig(""'Te s see %'rwo' Didth [cHzot,''iassV.::\npytXORf):. , Gi))))) TcepsdiMf ' ht)e ::\npytXORn. ") ghif s s ' ect""" gentV#sp) elf.#.n.verpyfArchit."eurss SeNintR''iaeE'iassV1terrk("Doeia lenum("Doei u(+ ''iassV..y")errconfig(""'Te s see %'rwo' Didth [cHzot,''iassV.::\npytXORf):. , dself3-3-3xarchit."eurslf.ac E( so,df.x::\npytXORt lff est oitV#sp ure'h[0,1]."e3,3,3 gentV#sp) elf.#.n.verpyfArchit."eurss SeNintR''iaeE'iassV1terrk("Doeia lenum("Doei u(+ ''iassV..y")errconfig(""'Te s see %'rwo' Didth [cHzot,''iassV.::\npytXORf):. , 1]."es r t[tOu TochBp( dr, 1cline ::\npytXORn.f.1]."ectct""" w ghif s sDs'o 'p) elf.#.n.verpyfArchit."eurss SeNintR''iaeE'iassV1terrk("Doeia lenum("Doei u(+ ''iassV..y")errconfig(""'Te s see %'rwo' Didth [cHzot,''iassV.::\npytXORf):. , dselfT)xarchit."eurslf.ac a cquio, go] "off op) elf.#.n lf):. , seest oitV#sf.#.n.urevelaponn1 1))st oitV#sf.#.n.urevelaponn2 1))st oitV#sf.#.n.urevelaponn3 1))st oitV#sf.#.n.urevelaponn4 1))st oitV#sf.#.n.urevelaponn5 1))st oitV#sf.#.n.f.1]."ect1 n3 )st oitV#sf.#.n.f.1]."ect2 n3 )st oitV#sf.#.n.f.1]."ect3 n4 )st oitV#sf.#.n.f.1]."ect4 n3 ) #cquiost oitV#sf.#.n.f.1]."ect4 n5 )st oitV#sf.#.n.verpyfArchit."eurss SeNintR''iaeE'iassV1terrk("Doeia lenum("Doei u(+ ''iassV..y")errconfig(""'Te s see %'rwo' Didth [cHzot,''iassV.::\npytXORf):. , dselfT)xarchit."eurslf.ac an unf.1]."eed so,df.x::\npytXORt lf):. , seest oitV#sp urevelaponn1 1))st oitV#sn.urevelaponn2 1))st oitV#sn.urevelaponn3 1))st oitV#sn.f.1]."ect1 n3 )st oitV#sp) elf.#.n.verpyfArchit."eurss SeNintR''iaeE'iassV1terrk("Doeia lenum("Doei u(+ ''iassV..y")errconfig(""'Te s see %'rwo' Didth [cHzot,''iassV.::\npytXORf):. , dselfT)xarchit."eurslf.ac unf.1]."eed subarchit."eurssf.x::\npytXORt lf):. , seest oitV#sp urevelaponn1 1))st oitV#sn.urevelaponn2 1))st oitV#sn.urevelaponn3 1))st oitV#sn.urevelaponn4 1))st oitV#sn.f.1]."ect1 n3 )st oitV#sn.f.1]."ect2 n4 )st oitV#sp) elf.#.n.verpyfArchit."eurss SeNintR''iaeE'iassV1terrk("Doeia lenum("Doei u(+ ''iassV..y")errconfig(""'Te s see %'rwo' Didth [cHzot,''iassV.::\npytXORf):. , dselfT)xarchit."eurslf.ac a c.1]."essV b:. ap( dr, ee itx)ct(::\npytXORt lf):. , seest oitV#sp) elf.#.n.urevelaponn1 1))st oitV#sf.#.n.urevelaponn2 1))st oitV#sf.#.n.f.1]."ect1 n2 )st oitV#sf.#.n.f.1]."ect2 n2 )st oitV#sf.#.n.verpyfArchit."eurss SeNintR''iaeE'iassV1terrk("Doeia lenum("Doei u(+ ''iassV..y")errconfig(""'Te s see %'rwo' Didth [cHzot,''iassV.::es,::\npyne .ThBataa]tnewlf.pC().ect""u XORtBACf):. , dself2-2-Maidlf.pC ::\npytXORt lf):. , seest oitV#sp ure WWcengeneu2,2,Nt zot, :o..toLI, psel, se(1etMongenumf):. , Us' steplf.ac argu1ta se ::\npytXORn.f.pC( = Bata[0tol=a[i age = Bata]est oitV#sp ee.soorkeest es geDsDaRleb , +ata[etolest oitV#sp ee.soorkee pyol=0DsDa::\npytSe4366ugha hR['of):. , Us' steplf.ac seargu1ta se ::\npytXORn.f.pC( gentV#sf):. , dselfreTeN self=f.x::\npytXORt lff est oitV#sp ure'h[0,1]."e3,3,3 gentV#sp toL= psel, se(1etMongenumf):. , Us' steplf.ac argu1ta se ::\npytXORn.f.pC( = Bata[0to[0tol=a[i age = Bata11436[ [t cn geCt[tOu= Nt zot, :o..t.pC( = Bed(1eto1etol=a[i age = B, sel(2,el(2,t, cn geCt[tOu= ta += ne .ddUs' steplf.ac sargu1ta se ::\npytXORn.ee.soorkeest es geDsDaRleb , +ata[0to[0tolest oitV#sp ee.soorkee pyol=0DsDa::\npytSeata11436[ [)st oitV#sn.fn geCt[tO(t zot, :o..t.pC() :es,::\npyne .Addi Slf _lask("Doeia lt lf):. , seest oitV#sp ure WWcengeneu2,2,Nt zot, :op) elf.#.n.ioL= n.wetS0ta[etolest oitV#s''iaeE'iassV1terrk("Doeia lenum("Doeierrconfig(""p) elf.#.n.ioL= n.wetSltwork]lest oitV#s''iaeE'iassV1terrk("Doeia lenum("Doeierrconfig(""p) elf.#.n.ioL self. inroslest oitV#s''iaeE'iassV1terrk("Doeia lenum("Doeierrconfig(""ninte?"B!i #son(Ton p) elf.#.n.ioL self. inroslest oitV#s''iaeE'iassV1terrk("Doeia lenum("Doeierrconfig(""'Te s see %'rwo' No ''iassV.cau(+ ::\npytXORp) elf.#.n lf):. , seest oitV#sf.#.n.urevelaponn1 2))st oitV#sf.#.n.urevelaponn2 2))st oitV#sf.#.n.urevelaponn3 1))st oitV#sf.#.n.f.1]."ect2 n3 )st oitV#sf.#.n.f.1]."ect1 n2 )st oitV#sf.#.n.verpyfArchit."eurss SeNintRf.#.n.ioL= n.wetS ed(114366.64ta += n.lddThreeeeeeeeeeL, sel(2,t,o,1ta += n.wetughaeeeeeeeeLhR[[ [t.0] sDaRltworkArcheeeeeeeeLhR[[ etol]. elf.#.n.ioL self. [t.0] sDaRltworkArcheeeeeeee.wetol=0[[ ] sDaRltweeeeeee.wetol=0[[ ] sDaRltweeeeeee.w0tol]. elf.#.n.ioLwrin.retEpsilon(0.5 f.#.n.ioL ()m(0t zot, :o, :o..ini alizeBb(0.5 f.#.n.ioL.......t n.wen.wetBNt (1ta += n.atret t wrin.retMongenum''iaeE'iassV1terrk("Doeia lenum("Doeierrconfig(""p) elf.#.n lf):. , seest oitV#sf.#.n.urevelaponn'%s' ,[2))st oitV#sf.#.n.urevelaponn ) 1))st oitV#sf.#.n.urevelaponn""" we2))st oitV#sf.#.n.,.et,c)"ect""" ghif s sDs'o 'f.#.n.,.et,c)"e""" we :" n. gentV#sf.#.n.verpyfArchit."eurss SeNintRf.#.n.ini alizeBb(0.5 f.#.n.ioL.......t n.wen.wetBNt (1ta += n.atret t #tB I, psel, se(1etMongenumn.wetBmapltu" ect""" 0t zot, :o, :o..map snn ) on(0.5 f.#.n.ioL= n.wetS ed(114366.64ta += n.lddThreeeeeeeeeeL, sel(2,t,o,1ta += n.wetughaeeeeeeeeLhR[[ [t.0] sDaRltworkArcheeeeeeeeLhR[[ etol]. elf.#.n.ioL self. [t.0] sDaRltworkArcheeeeeeee.wetol=0[[ ] sDaRltweeeeeee.wetol=0[[ ] sDaRltweeeeeee.w0tol]. elf.#.n.wrin.retMongenum''iaeE'iassV1terrk("Doeia lenum("Doeierrcpyro/brin./fuzzy.py0ilo7550000764000031000000012646074505224270i4406 0ussar dblankfaculty# Fuzzy Logic Cefflt# D.S. Blank, 2001t# http://ai.uaf=fedu/ seffl Fuzzyk("Do""::\npFuzzy logic seffl. Vyn.a " alwas b:. [[ ne . Min[ neMax:\npcaV b: ynpyn.a).("Do""::\npdef __ini __(x)ct, * s)l=# t,c no s,pdefault += sr1sr.5("Doeiatlt en( s) .Ve0k("Doeia lex)ct(Max!i #son(Ton ex)ct(Min nex)ct(Vyn.a = ro5 eltlt en( s) .Ve1l=# t,c 1 ,pdefault += sr1srpyn.a("Doeia lex)ct(Max!i #son(Ton ex)ct(Min nex)ct(SetUp( s seltu" Weltlt en( s) .Ve2l=# t,c 2 s,pdefault += min[ maxsr.5("Doeian ex)ct(Min s se("Doeia lex)ct(Max!i s 1e("Doeia lex)ct(Vyn.a = ro5 eltlt en( s) .Ve3l=# t,c eL, se s,pdefault += min[ maxsrpyn.a("Doeia lex)ct(Min s se.# )OTE: eL" applie UC() += pyn.a("Doeia lex)ct(Max!i s 1e("Doeia lex)ct(SetUp( s ])confdef __s1, __(x)ct, * s)l("Doeiatlt en( s) .Ve0k=# t,c no s,preeurn pyn.a("Doeia lereeurn x)ct(Vyn.a eltlt en( s) .Ve1l=# t,c 1 ,preeurn pyn pyn.a("Doeia lex)ct(SetUp( s seltu" W lereeurn x)ct(Vyn.a eltlt en( s) .Ve2l=# t,c 2 s,pdefault += min[ maxsr.5("Doeian erinse "ERROR: wLat does eL" mean?" eltlt en( s) .Ve3l=# t,c eL, se s,pdefault += min[ maxsrpyn.a("Doeia lex)ct(Min s se.# )OTE: eL" applie UC() += pyn.a("Doeia lex)ct(Max!i s 1e("Doeia lex)ct(SetUp( s ])conf W lereeurn x)ct(Vyn.a def Up(x)ct, pyn.a)l=# uphill,mxidlfleforkAreg(+, slopa("Doeiatem o Fuzzy(x)ct(Min,ex)ct(Max)("Doeiatem (SetUp(pyn.a) W lereeurn tem o, def Down(x)ct, pyn.a)l=#downhill,mxidlfleforkAreg(+, slopa("Doeiatem o Fuzzy(x)ct(Min,ex)ct(Max)("Doeiatem (SetDown(pyn.a) W lereeurn tem o, def MinMax(x)ct, pyn.a, min[ max)l=# func("Doeiatlt(pyn.a > max)lconf W lereeurn max:\np eltlt(pyn.a < min)lconf W lereeurn min:\np ele s see reeurn pyn.a("Dodef Set(x)ct, pyn.a)l=# s=0in rf, p eia lex)ct(Vyn.a = float(x)ct(MinMax(pyn.a, , sel(2,)) W lereeurn x)ct(Vyn.a def SetUp(x)ct, pyn.a)l("Doeiatlt(x)ct(Max!i=ex)ct(Min)k("Doeia lex)ct(Set(1.ln(0.5 ele s see x)ct(Set(float(pyn.a -ex)ct(Min)/(x)ct(Max!-ex)ct(Min)) W lereeurn x)ct(Vyn.a def SetDown(x)ct, pyn.a)l("Doeiatlt(x)ct(Max!i=ex)ct(Min)k("Doeia lex)ct(Set(0.ln(0.5 ele s see x)ct(Set(1.l-(float(pyn.a -ex)ct(Min)/(x)ct(Max-x)ct(Min))) W lereeurn x)ct(Vyn.a confdef __str__(x)ct)k("Doeiareeurn "::\npdef __cmp__(x)ct, o W1.)l("Doeiatlthaself (o W1., 'Vyn.a')l=# probably a Fuzzys see reeurn int(x)ct(Vyn.a -eo W1.(Vyn.a:\np ele s see reeurn (x)ct(Vyn.a -eo W1.) t# e ree o Fuzzy(x)ct(Min,x)ct(Max)(#"Doeiatlt(x)ct(Max!-ex)ct(Min) .Ve0k(# see ree(Set(0)(#"Doeiaele s# see tlt(o W1. > (x)ct(Min + s)ct(Max)/2.ln s# see ree(Set((o W1. -ex)ct(Min) / (x)ct(Min - s)ct(Max))s# see ele s# see ree(Set(1.l-((o W1. -ex)ct(Min) / (x)ct(Min - s)ct(Max)))t# e reeurn r,t :\npdef __add__ (x)ct, o W1.) l("Doeiatlthaself (o W1., 'Vyn.a')l=# c=e p b: Fuzzy onreg(+conf W lereeurn x)ct(Vyn.a + o W1.(Vyn.a:\np ele s see reeurn x)ct(Vyn.a + o W1.confdef __sub__ (x)ct, o W1.) l("Doeiatlthaself (o W1., 'Vyn.a')l=# c=e p b: Fuzzy onreg(+conf W lereeurn x)ct(Vyn.a - o W1.(Vyn.a:\np ele s see reeurn x)ct(Vyn.a - o W1.confconfdef __lshift__ (x)ct, o W1.) l("Doeiareeurn x)ct(Down(o W1.) onfconfdef __rshift__ (x)ct, o W1.) l("Doeiareeurn x)ct(Up(o W1.) onfconfdef __ n__ (x)ct, o W1.) l("Doeiaree o Fuzzy(x)ct(Min,ex)ct(Max)("Doeiatlt(x)ct(Vyn.a < o W1.(Vyn.a s see ree.Set(x)ct(Vyn.a:\np ele s see ree.Set(o W1.(Vyn.a:\np reeurn r,t :\npdef __or__ (x)ct, o W1.)l("Doeiaree o Fuzzy(x)ct(Min,ex)ct(Max)("Doeiatlt(x)ct(Vyn.a > o W1.(Vyn.a s see ree.Set(x)ct(Vyn.a:\np ele s see ree.Set(o W1.(Vyn.a:\np reeurn r,t :\npdef __neg__ (x)ct) l("Doeiareeurn 1.l - s)ct(Vyn.a:\np:\npdef __pos__ (x)ct) l("Doeiareeurn s)ct(Vyn.a:\np:\npdef __abs__ (x)ct) l("Doeiareeurn abs(x)ct(Vyn.a:\np:\npdef __invert__ (x)ct) l("Doeiaree o Fuzzy(x)ct(Min,x)ct(Max)(ee ree.Set(1.l - s)ct(Vyn.a:\np reeurn r,t :\npdef __float__(x)ct) l("Doeiareeurn float(x)ct(Vyn.a::\npdef __nonzero__(x)ct) l("Doeiareeurn (x)ct(Vyn.a > :\npdef __mul__ (x)ct, o W1.) l("Doeiatlthaself (o W1., 'Vyn.a')l=# c=e p b: Fuzzy onreg(+conf W lereeurn x)ct(Vyn.a * o W1.(Vyn.a:\np ele s see reeurn x)ct(Vyn.a * o W1.confconfdef __div__ (x)ct, o W1.) l("Doeiatlthaself (o W1., 'Vyn.a')l=# c=e p b: Fuzzy onreg(+conf W lereeurn x)ct(Vyn.a / o W1.(Vyn.a:\np ele s see reeurn x)ct(Vyn.a / o W1. :\np__radd__ = __add__:\np__rsub__ = __sub__ t# Do w]tneedtaa]se? WLat w=e p aa]y mean?confc#\npdef __mon__ (x)ct, o W1.) l(#ee reeurn x)ct(Vyn.aconfc#\npdef __divmon__ (x)ct, o W1.) l(#ee reeurn x)ct(Vyn.aconfc#\npdef __pow__ (x)ct, o W1.,, ulou= t l(#ee reeurn x)ct(Vyn.aconfc#\npdef __xor__ (x)ct, o W1.) l(#ee reeurn x)ct(Vyn.aconfcif __name__ == '__main__'l=# so , s _confx o Fuzzy(1, 7, n.atrx2 o Fuzzy(1, 7, 2)confy o Fuzzy(1sel(lon(0.5z o Fuzzy(9, gef o Fuzzy(5el(l, n.atre o Fuzzy(11, 23, 23 :\np'rwo' 1)", (z >> 8)(Vyn.aconf'rwo' 2)", (z << 8)(Vyn.aconf'rwo' 3)", x(Vyn.aconf'rwo' 4)", x2 + 0conf'rwo' 5)", linexconf'rwo' 6)", x & yconf'rwo' 7)", x or yconf'rwo' 8)", x == x2conf'rwo' 9)0[if x nex2 s see'rwo' 'tr.a' ele s see'rwo' 'fale ':\np'rwo' 10)", x - x2conf'rwo' 11)", x >> 5conf'rwo' 12)", Fuzzy(1sel() >> 3 cpyro/brin./ga.py0ilo7550000764000031000000055122ilo21410245013560 0ussar dblankfaculty# --------------------------------------------------------------------------(#eA simple Genetic Algorithmin Python(#e(See bo,tom)ulimexamples[ nes _)t# --------------------------------------------------------------------------(#e(c) D.S. Blank, Bryn Mawr College 2003 #(#eUpdaeed 4/29/03 by Lisa Meeden(#eT sel.ael.a few ke # iffselDimPlt,ptL" versssV. #(#e1.eT sel.eigh mlo))1.ea GA!paras of x)c."essVetEp. eT stnextlgener, (#ee i(edldividuale " sddd by x)c."es))) parta s a :uo mxidlf W1(#ee currta populassV..eT stDoeiaoveretEppde ofminmPlhow i(te,ptLo... (#ee parta s will b: recombiB! s uc.. tnewlchildrta..eFlimexample,(#ee if t stDoeiaoveretEpp" 0.6heLat meanTheLat 60% i(enlf.t maa]taarta s(#ee will b: Doeia! ne40% i(enlf.t maa]y will simply b: Dopied..eT s(#ee mutaessVetEppde ofminmPlhow i(te,peachlgenep" likdly i be, ified.(#ee Flimexample, if t stmutaessVetEpp" 0.1heLat meanTheLat 10% i(enlf(#ee ildividuallgenes will b: ified. So ' :uogenot(se i(e 0*dat 5sel(#ee ap s ximtEply.xive i(enlf.genes will b: utaeed.(#(#e2. 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runea GA.s se""::\np def __ini __(x)ct, 'opulassV1t** s)l("Doeia x)ct(mutaessVetEpp .1("Doeia x)ct(DoeiaoveretEpp .6("Doeia x)ct(maxGener, nx)ct(gener, nx)ct(e se n\npy s.has_ke ('e se'sk("Doeia lenumx)ct(e se s 'e se']:\npytXOR\npy s.has_ke ('mutaessVetEp'nk("Doeia lenumx)ct(mutaessVetEpp s 'mutaessVetEp']:\npytXOR\npy s.has_ke ('DoeiaoveretEp'nk("Doeia lenumx)ct(DoeiaoveretEpp s 'DoeiaoveretEp']:\npytXOR\npy s.has_ke ('maxGener, 'nk("Doeia lenumx)ct(maxGener, s 'maxGener, ']:\npytXORx rf,nom.rf,nom() *m100000 +lt .t ()("Doeia lx)ct(s Shed(x)("Doeia lx)ct(origPop!i populassV[['1']tltx)ct(e se > 0k("Doeia l"Doe'rwo' "DoeiaoveretEpp!i %.3f" % x)ct(DoeiaoveretEp("Doeia l"Doe'rwo' "mutaessVetEppp!i %.3f" % x)ct(mutaessVetEp("Doeia l"Doe'rwo' "populassVSize %d" % x)ct(origPop(size#son(Ton "Doe'rwo' "elttePercta p!i %.3f" % x)ct(origPop(elttePercta ("Doeia l"Doe'rwo' "maxGener, %d" % x)ct(maxGener, ("Doeia l"Doe'rwo' "================================================================================::\np x)ct(reIni alizeBb(:\np def reIni alizeBx)ct)k("Doeia lx)ct(pop!i deepsopy(x)ct(origPop)("Doeia lx)ct(ini alizeBb(:\np def ini alizeBx)ct)k("Doeia lx)ct(applyFitnessFuncssV() :[['1']tltx)ct(e se > 0k("Doeia l"Doe'rwo' "-" *m60("Doeia l"Doe'rwo' "Ini al populassV"("Doeia lx)ct(pop. taesstics():[['1']tltx)ct(e se > 1k("Doeia lenumx)ct(.........ia lenum(:\np def isDoneBx)ct)k("Doeia l# Oe rid..eL" npass(:\np def fitnessFuncssV(x)ct, genePosi 1t** s)l("Doeia # Oe rid..eL" npass(:\np def applyFitnessFuncssV(x)ct)k("Doeia lulimiin rf, p(p en(x)ct(pop.dldividuale) nk("Doeia lenumx)ct(pop.dldividuale[i](fitness = x)ct(fitnessFuncssV(i) # PROBLEM! s sedef ) Shed(x)ct, pyn.a s see x)ct(s ed1 = pyn.a("Doeia lx)ct(s ed2 = pyn.a / 23.45 nrf,nom.shed(x)ct(s ed1):[['1']R nomArray.shed(int(x)ct(s ed1), int(x)ct(s ed2)) s sedef ......._oneBx)ct, ')k("Doeia lx)ct(pop.dldividuale[p].......... nprwo' "Fitness::, x)ct(pop.dldividuale[p].fitness(s sedef .......(x)ct)k("Doeia lprwo' "PopulassV ::\np ulimpin rf, p( en(x)ct(pop.dldividuale)nk("Doeia lenumx)ct(......._oneBp) s sedef gener, eBx)ct)k("Doeia l""::\np Iter, vply.sddsma newl'opulassV xidlf W1tDurrta populassV.:\np S)c."es) parta s, attem ts Doeia W1m[ nesheV.attem ts :\np utaeeenlf.resules r hildrta..eT s probability i(enlfse oper, nocDurrs rispde ofminmd by t stDoeiaoveretEpp neshetmutaessVetEp.:\np Oe writesdiMoldl'opulassV t,c eLe newl'opulassV.("Doeia l""::\np newpop!i rf, p(x)ct(pop(size):[['1']t = r:\np while i < x)ct(pop(size - 1k("Doeia lenumparta 1r= x)ct(pop(s)c."e()("Doeia lenumparta 2r= x)ct(pop(s)c."e()("Doeia lenumnewpop[i],mnewpop[i+1]r= parta 1(Doeiaover(aarta 2,tx)ct(DoeiaoveretEp)("Doeia lenumnewpop[i]. utaee(x)ct(mutaessVetEp)("Doeia lenumnewpop[i+1]. utaee(x)ct(mutaessVetEp)("Doeia lenumi +i 2 gentV#s# Flimodd sizedl'opulassVs,tneedtao.sdd eLe efft hild:[['1']tltx)ct(pop(size % 2 .Ve1l("Doeia lenumnewpop[x)ct(pop(size-1]r= x)ct(pop(s)c."e()("Doeia lenumnewpop[x)ct(pop(size-1]. utaee(x)ct(mutaessVetEp)("Doeia l# Copymnewlgener, wo'o populassV[['1']elttePosi s = map( lambda x: x.posi 1tx)ct(pop(eltteMembr,e)([['1']ulimiin rf, p(x)ct(pop(size) s see %tlti potmin elttePosi sk("Doeia lea l"Doex)ct(pop.dldividuale[i]r=spewpop[i]("Does sedef evolveBx)ct)k("Doeia lx)ct(gener, nwhile x)ct(gener, 0k("Doeia l"Doeeeee'rwo' "-" *m60("Doeia l"Doeeeee'rwo' "Gener, ",mx)ct(gener, ("Doeia lenumx)ct(gener, eBb(0.5 f.#.x)ct(applyFitnessFuncssV()("Doeia lenumx)ct(pop. taesstics():[['1']eDoetltx)ct(e se > 1k("Doeia lea l"Doex)ct(......... neDoetltx)ct(isDoneB)k("Doeia l"Doeia lbk:\npytXOR'rwo' "-" *m60("Doeia l'rwo' D SfevolvselfT gener, ",mx)ct(gener, ("Doeia lf):. , urrta best ildividual"("Doeia lx)ct(pop.bestMembr,.......... nprwo' "Fitness:, x)ct(pop.bestMembr,.fitness(s sedef st sToFileBx)ct, filename)k("Doeia li iatl[ickle nfp!i open(filename, "w"):[['1']tltx)ct(e se > 0k("Doeia l"Doe'rwo' "SavselfGAtao.'%s'e : % (filename,. npickle.dump(x)ct, fp)("Doeia lfp.cl seBb(:\np def seFidlFileBx)ct, filename)k("Doeia l# probably jtextsopymeL" e gh mneedtao.sdd an entiriMobj."e("Doeia l# to se ano W1. S.("Doeia li iatl[ickle nfp!i open(filename, "w"):[['1']tltx)ct(e se > 0k("Doeia l"Doe'rwo' "LseselfGAtxidlf'%s'e : % (filename,. nfp.cl seBb( nreeurn pickle. se(fp) s sedef st sGenesToFileBx)ct, filename, lsstOfPosi s = N S)k("Doeia li iatl[ickle n\np sstOfPosi s == N Sk("Doeia l"DoelsstOfPosi s = rf, p( en(x)ct(pop.dldividuale)n nfp!i open(filename, "w"):[['1']tltx)ct(e se > 0k("Doeia l"Doe'rwo' "Savself%d.genes ao.'%s'e : % ( en(lsstOfPosi s), filename) npickle.dump( en(lsstOfPosi s), fp)([['1']ulimiin lsstOfPosi sk("Doeia l"Doe'ickle.dump(x)ct(pop.dldividuale[i], fp)("Doeia lfp.cl seBb(:\np def getGenesFidlFileBx)ct, filename)k("Doeia li iatl[ickle nfp!i open(filename, "r"):[['1']geneCoua = pickle. se(fp) [['1']tltx)ct(e se > 0k("Doeia l"Doe'rwo' "Lseself%d.genes xidlf'%s'e : % (geneCoua , filename) ndldividuale = [] nulimiin rf, p(geneCoua ) s see %tldividuale.ap lf.(pickle. se(fp). nfp.cl seBb( nreeurn tldividuale(:\np def seGenesFidlFileBx)ct, filename)k("Doeia lx)ct(pop.dldividualer= x)ct(getGenesFidlFileBfilename) :\np def ini GenesFidlFileBx)ct, filename,Mf pleSize 0, utaeeei ,fullu= tk("Doeia l# f pleSize how many ao.get xidlf0 d pop?("Doeia l# utaeeei sh=e p I utaeeenlfm?("Doeia l# fullu= sh=e p I sdd a fullupop, or jtextre...ce f pleSize?("Doeia loldGenesr= x)ct(getGenesFidlFileBfilename) [['1']tltx pleSize Ve0k("Doeia lenumx pleSize en(oldGenes) [['1']tltx)ct(e se > 0k("Doeia l"Doe'rwo' "oldGenesrhe %d.dldividuale: % en(oldGenes) [['1']"Doe'rwo' "Durrta has%d.dldividuale: % en(x)ct(pop.dldividuale)("Doeia l"Doe'rwo' "Lseself%de : % x pleSize [['1']tltfullk("Doeia l"DoeDurrta Old!i 0("Doeia lea lulimiin rf, p( en(x)ct(pop.dldividuale)nk("Doeia lenum"DoeDurrta Old!i Durrta Old!% en(oldGenes) [['1']"Doeenumx)ct(pop.dldividuale[i]r=soldGenes[Durrta Old]("Doeia l"Doeia lcurrta Old!+i #son(Ton eDoe'1']tlt utaeek("Doeia lenumenumenumx)ct(pop.dldividuale[i]( utaee(x)ct(mutaessVetEp)("Doeia l'le s see %ulimiin rf, p(x pleSizenk("Doeia lenum"Doex)ct(pop.dldividuale[i]r=soldGenes[i]("Doeia l"Doeia ltlt utaeek("Doeia lenumenumenumx)ct(pop.dldividuale[i]( utaee(x)ct(mutaessVetEp)(cif __name__ == '__main__'l("Doe# H]el.eigae :ao.evolvema lsst i(ef, egers ao.maximize nlfir xum: :\np seffl MaxSumGA(GAnk("Doeia ldef fitnessFuncssV(x)ct, ink("Doeia lenumreeurn max(sum(x)ct(pop.dldividuale[i](genot(se), on(0.5 def isDoneBx)ct)k("Doeia lllll'rwo' "Best:0[['1'],['0x)ct(pop.bestMembr,.......... nllll'rwo'("Doeia lenumreeurn x)ct(pop.bestMembr,.fitness > 30 :\np 'rwo' D """ ' evolvema lsst i(ef, egers ao.maximize nlfir xum? 0[[tltxys. tse.dlineB). swer()[,] == 'y'k("Doeia l'rwo'("Doeia lgar=sMaxSumGA(PopulassV(20, Gene, size=1selm '=ef, eger'=0[[ ] sDaRltweeeeeee........e se=1, elttePercta = .1=0[[ ] sDaRltweeeeeee........max!i 3[ maxStepli 2, min = 0=0[[ ] sDaRltweeeeeee........DoeiaoverPof, s!i )=0[[ ] sDaRltweeeemutaessVetEp=0.1=tDoeiaoveretEp=0.5,.e se=1,0[[ ] sDaRltweeeemaxGener, =5on(0.5 ga.evolveB. nprwo' "ThBaselflsesel/savsele ::\npytXORga.st sGenesToFileB"maxxumga.genes". nprwo' "Deleaselfgenese ::\npytXORga.pop.dldividualer= [] nga. seGenesFidlFileB"maxxumga.genes". nprwo' "Press enddreno tinuSfevolvsele :,0[[ xys. tse.dlineB)(0.5 ga.evolveB. nprwo' "Press enddrenoTest ilit xidlffile ( se allut,c utaee)e :,0[[ xys. tse.dlineB)(0.5 prwo' "reIni alizeupope ::\npytXORga.reIni alizeBb(\npytXORga.ini GenesFidlFileB"maxxumga.genes". nga.evolveB. nprwo' "Press enddrenoTest ilit xidlffile ( se 1gh m utaee)e :,0[[ xys. tse.dlineB)(0.5 ga.st sGenesToFileB"bestxumga.genes", (ga(pop.bestMembr,.posi 1)):\npytXORga.reIni alizeBb(\npytXORga.ini GenesFidlFileB"bestxumga.genes", 1, on(0.5 ga.evolveB. nprwo' "Press enddrenoTest ilit xidlffile ( se 1,ut,c utaee,tfull)e :,0[[ xys. tse.dlineB)(0.5 ga.reIni alizeBb(\npytXORga.ini GenesFidlFileB"bestxumga.genes", utaeeei , fullu= 1n(0.5 ga.evolveB. prwo' ("Doe# H]el.eigae :ao.evolvemeLe weg(+s/biaas ' :uoneuralaidlf.pC("Doe# Lat solvesdiMXOR problem: :\np xidlfpyro.brin..,.exli iatl*:\np seffl NNGA(GAnk("Doeia ldef __ini __(x)ct, c, )k("Doeia llllln lf):. , seest oitV#sf.#.n.urev elaponn'%s' ,[ 2) est oitV#sf.#.n.urev elaponn""" we 3) est oitV#sf.#.n.urev elaponn ) l() est oitV#sf.#.n.,.et,c)"ect""" ghif s sDs'o 'f.#.n.,.et,c)"e""" we :" n. gentV#sf.#.n.ioL= n.wetS ed(114366.64ta += n.lddThreeeeeeeeeeL, sel(2,t,o,1ta += n.wetughaeeeeeeeeLhR[[ [t.0] sDaRltworkArcheeeeeeeeLhR[[ etol]. elf.#.n.ioLO :" elf. [t.0] sDaRltworkArcheeeeeeee.wetol=0[[ ] sDaRltweeeeeee.wetol=0[[ ] sDaRltweeeeeee.w0tol]. elf.#.n.ioLV sity(0t zot, :o, :o..ioL oler,nce(.4t zot, :o, :o..ioLLearnsel(0t zot, :o, :ogr=sp.arrayif... nllllx)ct(idlf.pC = n:\np GA.__ini __(x)ct,0[[ ] sDaRltweeeeeePopulassV(c, 1tGene, size= en(g),.e se=1,0[[ ] sDaRltweeeeeeeeeeeeeeeeemin=-1[ max=1[ maxStepli 1,0[[ ] sDaRltweeeeeeeeeeeeeeeeeelttePercta = .1)=0[[ ] sDaRltweeeeeemutaessVetEp=0.5=tDoeiaoveretEp=0.25=0[[ ] sDaRltweeeeeemaxGener, =400,.e se=1n(0.5 def fitnessFuncssV(x)ct, genePosnk("Doeia lenumx)ct(idlf.pC unArrayif..x)ct(pop.dldividuale[genePos](genot(se)("Doeia lenumerrif1tcorrtct1tcoua = x)ct(idlf.pC swepC( gentV#sssssreeurn 4 -merrif(0.5 def isDoneBx)ct)k("Doeia lllllx)ct(idlf.pC unArrayif..x)ct(pop.bestMembr,.genot(se)("Doeia lenumerrif1tcorrtct1tcoua = x)ct(idlf.pC swepC( gentV#sssssf):. , orrtct::, corrtct gentV#sssssreeurn corrtct == 4 :\np 'rwo' D """ ' evolvema neuralaidlf.pC Lat caV doMXOR? 0[[tltxys. tse.dlineB). swer()[,] == 'y'k("Doeia lgar=sNNGA(2on(0.5 ga.evolveB. nga.idlf.pC unArrayif..ga(pop.bestMembr,.genot(se)("Doeia lga.idlf.pC I, psel, se(1etMongenumga.idlf.pC wepC( gentV#sga.st sGenesToFileB"gann(pop"b(\npytXORga.ini GenesFidlFileB"gann(pop"b(:\np 'rwo' D """ ' evolvema phrase? 0[[tltxys. tse.dlineB). swer()[,] == 'y'k("Doeia l'hrase o "evolu .eig Sfcool x)arch mechanism"("Doeia lxize en('hrase. nprwo' nseffl PhraseGA(GAnk("Doeia l def fitnessFuncssV(x)ct, ink("Doeia lenumia lxum ulimcin rf, p( en(x)ct(pop.dldividuale[i](genot(se))k("Doeia l"Doeia lia ltltx)ct(pop(dldividuale[i](genot(se[c] == 'hrase[c] s see %%%%%ia lenumxum += #son(Ton eDoe'1']fraw = float(xum) / en(x)ct(pop.dldividuale[i](genot(se)#son(Ton eDoe'1']fscale 2 **]fraw#son(Ton eDoe'1']reeurn fscale("Doeia l def isDoneBx)ct)k("Doeia lllllllll'rwo' "Best:0[['1'],['0enumx)ct(pop.bestMembr,.......... nllll'1']reeurn ('hrase o= strsel.jof,(x)ct(pop.bestMembr,.genot(se, ""eb(:\np gar=sPhraseGA(PopulassV(300, Gene, size=sizeelm '=echar'=0[[ ] sDaRltweeeeeee........e se=1, elttePercta = .1=0[[ ] sDaRltweeeeeee........DoeiaoverPof, s!i 2)=0[[ ] sDaRltweeeemutaessVetEp=0.06=tDoeiaoveretEp=0.6,.e se=1,0[[ ] sDaRltweeeemaxGener, =on(0.5 ga.evolveB. cpyro/brin./governor.py0ilo6440000764000031000000020037ilo21410245015024 0ussar dblankfaculty"":: Governorfcode ulimx)ct]regulas)))))lf.pCs. "":: ( h iatlpyro.brin..ravq h iatlrf,nom( seffl Governor: s sedef __ini __(x)ct, xize 5=te......p .2, deltap .6[ maskr= [], buffseSize 5 tk("Doeia l# ravq "Doeia lx)ct(ravq = pyro.brin..ravq.RAVQ(sizeele......, delta) "Doeia lx)ct(ravq History(0t zot, :ox)ct(ravq AddM 'ls(1etMongenumtltpotmmaskr== []k ("Doeia l"Doex)ct(ravq Mask(maskb(:\np # buffse%:\npytXORx)ct(buffse%= [] nx)ct(buffseSize buffseSize nx)ct(buffseIndex s sedef process(x)ct, pectif)k("Doeia lx)ct(ravq ct"""(pectif)tMongenumtltx)ct(ravq getNewWinner()k ("Doeia l"Doe\np en(x)ct(buffse) >= s)ct(buffseSizek("Doeia lenum"Doex)ct(buffse%= x)ct(buffse[1:] + [pectif]("Doeia l"Doeele s see %%%%%x)ct(buffse.ap lf.(pectif)tMongenumtlt en(x)ct(buffse) >e0k=s see %array%= x)ct(buffse[x)ct(buffseIndex]("Doeia l"Doex)ct(buffseIndex (x)ct(buffseIndex +l() % en(x)ct(buffse) gentV#sssssreeurn array gentV#s'le s see %reeurn pectif s sedef __ en__(x)ct)k("Doeia lreeurn en(x)ct(ravq m 'ls) :\np def quer.(x)ct)k("Doeia lreeurn xtr(x)ct(ravq) gen:\np def st sBx)ct, filename)k("Doeia lx)ct(ravq t sRAVQToFileBfilename) :\np def se(x)ct, filename)k("Doeia lx)ct(ravq seRAVQFidlFileBfilename) : seffl Adap, seGovernor(Governor): s sedef __ini __(x)ct, xize 5=te......p .2, deltap .6[ lpha .2[ maskr= [], buffseSize 5 tk("Doeia l# ravq "Doeia lx)ct(ravq = pyro.brin..ravq.ARAVQ(sizeele......, delta[ lpha) "Doeia lx)ct(ravq History(0t zot, :ox)ct(ravq AddM 'ls(1etMongenumtltpotmmaskr== []k ("Doeia l"Doex)ct(ravq Mask(maskb(:\np # buffse%:\npytXORx)ct(buffse%= [] nx)ct(buffseSize buffseSize nx)ct(buffseIndex sseffl Balancs))Governor(Governor): s sedef __ini __(x)ct, xize 5=te......p .2, deltap .6[ lpha .2[ maskr= [], dep r= 5tk("Doeia l# ravq "Doeia lx)ct(ravq = pyro.brin..ravq.ARAVQ(sizeele......, delta[ lpha) "Doeia lx)ct(ravq History(1) "Doeia lx)ct(ravq HistorySize(dep t zot, :ox)ct(ravq AddM 'ls(1etMongenumtltpotmmaskr== []k ("Doeia l"Doex)ct(ravq Mask(maskb(ia l"Doex)ct(index -1 s sedef process(x)ct, pectif)k("Doeia lx)ct(ravq ct"""(pectif)tMongenumtltx)ct(ravq getHistory ()p" 0 s see %reeurn pectif e %'le s see %x)ct(index (1 + s)ct(index) % x)ct(ravq getHistory ()s see %reeurn x)ct(ravq getHistory(s)ct(index) ("Doe# Defini borrow d uidlfsonx.py: I ' rf,nomize nlf ord1.confe# i(enrin.selfTDoeia W1 buffses periodis1, y, but then do soconfe# " yet ano W1. aaras of, so Lis.eigh t yet implimendd".("Does sedef rf,nomIndices(x)ct, numbr,)k("Doeia l""::\np rf,nom lsst gener, if e %""::\np x)ct(indices i [,] *mnumbr,:\np flag i [,] *mnumbr,:\np flimiin rf, p(numbr,)k("Doeia lllllpos int(rf,nom.rf,nom() *mnumbr,)("Doeia lllllwhile (flag[pos] == 1)k("Doeia lllllllll'os int(rf,nom.rf,nom() *mnumbr,)("Doeia lllllflag[pos] = #son(Ton eDoex)ct(indices[pos] = iDoessseffl DiscreeeGovernor: s sedef __ini __(x)ct, x pleDelay, buffseSize)k("Doeia lx)ct(delay%= x pleDelay("Doeia lx)ct(coua se%= 0(:\np # buffse%:\npytXORx)ct(buffse%= [] nx)ct(buffseSize buffseSize nx)ct(buffseIndex s sedef process(x)ct, pectif)k("Doeia ltltx)ct(Doua se%%lx)ct(delay%==e0k=s see %\np en(x)ct(buffse) >= s)ct(buffseSizek("Doeia lenum"Doex)ct(buffse%= x)ct(buffse[1:] + [pectif]("Doeia l"Doeele s see %%%%%x)ct(buffse.ap lf.(pectif)tMongenumx)ct(Doua se%+i #son(Ton tlt en(x)ct(buffse) >e0k=s see %array%= x)ct(buffse[x)ct(buffseIndex]("Doeia l"Doex)ct(buffseIndex (x)ct(buffseIndex +l() % en(x)ct(buffse) gentV#sssssreeurn array gentV#s'le s see %reeurn pectif s sedef quer.(x)ct)k("Doeia lpass(ia l:\np def st sBx)ct, filename)k("Doeia lpass(:\np def se(x)ct, filename)k("Doeia lpass(ia lia l:sseffl R nomGovernor: s se# flimrf,nom x plsel \np def flip(x)ct)k("Doeia l""::\np Flip aBbiaa!coin.("Doeia l""::\np reeurn rf,nom.rf,nom() <= x)ct(probability (\np def exponential(x)ct)k("Doeia l""::\np S ple uidlfdiscreee exponentialfdistribussV.("Doeia l""::\np pyn.a = rf,nom.expovariate(1.l/10.ln(0.5 reeurn int(vyn.a::\np def waitT (x)ct)k("Doeia l""::\np DiscreeefdistribussV baa!sV histogras data.("Doeia l""::\np lsstpli [ .0595745=t .093617=t .2553191=t .4425532[ 5787234=t .8085106,0[[ ] sDaRltw0.14382979=t .2212766=t .31829787[ 39744681, o.46893617=t 0.53531915=0[[ ] sDaRltw.61531915=tw.70468085=tw.7787234 =tw.85361702[ 90468085=tw.92851064=0[[ ] sDaRltw.94808511=t .95744681, .96255319, .96510638[ 97361702[ 98297872=0[[ ] sDaRltw.9906383 =tw.99659574=tw1.l0](:\np :\np rf,nomnumbr, o rf,nom.rf,nom()("Doeia lulimiin rf, p( en(lsstp)nk("Doeia lenumifmrf,nomnumbr, < lsstp[i]k("Doeia l"Doeia lbk:\npytXORreeurn i s sedef __ini __(x)ct, probability, buffseSize)k("Doeia lx)ct(probability = probability "Doeia l# buffse%:\npytXORx)ct(buffse%= [] nx)ct(buffseSize buffseSize nx)ct(buffseIndex nx)ct(wait%= x)ct(waitT () s sedef process(x)ct, pectif)k("Doeia ltltx)ct(wait%" 0 s see %x)ct(wait%= x)ct(waitT ()l# re waits see %\np en(x)ct(buffse) >= s)ct(buffseSizek("Doeia lenum"Doex)ct(buffse%= x)ct(buffse[1:] + [pectif]("Doeia l"Doeele s see %%%%%x)ct(buffse.ap lf.(pectif)tMongenum'le s see %x)ct(wait%-i =# decremend waits see # decid..wLat aoRreeurn#son(Ton tlt en(x)ct(buffse) >e0k=s see %array%= x)ct(buffse[x)ct(buffseIndex]("Doeia l"Doex)ct(buffseIndex (x)ct(buffseIndex +l() % en(x)ct(buffse) gentV#sssssreeurn array gentV#s'le s see %reeurn pectif s sedef quer.(x)ct)k("Doeia lpass(ia l:\np def st sBx)ct, filename)k("Doeia lpass(:\np def se(x)ct, filename)k("Doeia lpass(cif __name__ == '__main__'l(("Doeh iatlos("Doeh iatlgzip("Doexidlfpyro.brin..,.exli iatl*:s se# dmin experimendalfnrin.selfdatas seloc, file =lgzip.open('loc, .dat.gzwe rn. gensensorfile =lgzip.open('sensors.dat.gzwe rn. gensensorsr= x)nsorfile.dlines():[[loc, sr= loc, file.dlines():s se#'rwo' " )nsors::, x)nsors[se("Doe#'rwo' "loc, s::, loc, s[0](:\np loc, file.cl seBb( x)nsorfile.cl seBb(:\np # sdd idlf.pC("Doenee o ):. , seest oiinSize en(map(lambda x: float(x), x)nsors[se.rstrip().splst())):\npy#'rwo' inSize um(:\np nee.ureThreeelapos(inSize, inSize/2, gee# Lf o :" will code thstr=botstDurrta reg ( e # defaultst- but a]el.explicits senee. Batch(0t zotnee. I, psel, se(0t zotnee. V sity(0t zot, e # learnseltaaras ofs zotnee. E......(.2t zotnee. Momendum(.9t zotnee. oler,nce( 5t zotnee. Learnsel(1t zot, e # ini alize idlf.pC("Doenee(ini alizeBb( zot, e # sdd governor( e govE......p .2:\np deltap .8:\np lpha .2:\np ravqBuffse%= 5 e govBuffse%= 5 e # T s "16" weg(+s thstct"""pde ofmins))) hetmultiple lab'le ot, e # T s shoice.ofte......p nedeltapmay%changeenlf.required e # weg(+s. Flimbinary nodes,%changs))) hetpyn.a will akeenlf.pectif e #fdist,nceg Sfxidlfevery pectif t,c eLe opposi etpyn.a iV.that e #fnode.eT " shangeeis en ugh)if t stdeltappyn.a is leia Wan e #f S. Use.ofta high)weg(+ppyn.a is moel.aoRrefc."e: Lat aaat e #fnode is h iatao' inpde ofmins))) hetuuncssV.i(enlfeidlf.pC ot, e govMaskr= [1] *m(inSize - 1) + [16] + [inSize/4] *m4 e governorf= Balancs))Governor(ravqBuffse, govE......, delta[ lpha, govMask, govBuffse):s se#'rwo' govMasks se#'rwo' en(govMask):s seulimiin rf, p(5000)k("Doeia lx)nsorlsst = map(lambda x: float(x), x)nsors[ie.rstrip().splst()):\np loc, lsst = map(lambda x: float(x), loc, s[ie.rstrip().splst()):\np 'rwo' "wo'o gov ::, len(x)nsorlsst + loc, lsst):\np array%= governor.process(x)nsorlsst + loc, lsst):\np 'rwo' "outoftgov::, len(array)tMongenum'rrif1tcorrtct1t tall=tnee. tep(ct"""p= array[:inSize], o :" = array[inSize:])tMongenumtlti % 100 Ve0k("Doeia lenum'rwo' "Step: ",ti("Doeia l"Doe'rwo' 'rrif1tcorrtct1t tal(ia lia l:s"Doe'rwo' governor.quer.()cpyro/brin./gp.py0ilo755000076400003100000002424707655522760013634 0ussar dblankfacultyxidlfpyro.brin..gali iatl*:xidlfmathli iatl[i h iatlpyro.sy tem.shael.as shael( seffl GPGene(Gene) s sedef __ini __(x)ct, ** s)l("Doeia x)ct(biaa = .6("Doeia x)ct(fitness = ro nx)ct( s!i s#son(Ton x)ct(m ' - #son(Ton tlty s.has_ke ('biaa'nk("Doeia lenumx)ct(biaa = s 'biaa']:\npytXOR# higherenlf.biaa, moel.likply. bemshallow#son(Ton tlt(rf,nom.rf,nom() 0k("Doeia l"Doeeeeereeurn x)ct(epyn_tree(pyn.aa, mylsst[2]. neDoeele s see %%%%%reeurn x)ct(epyn_tree(pyn.aa, mylsst[3])("Doeia l'le s see %rinse "unknownOper, or", mylsst[0](:\np def dep (x)ct, treer= '')k("Doeia ltlttreer== '' s see %treer= x)ct(genot(ses see tlttreerine hael. ofminale s see %reeurn 0("Doeia l'ltlttree[0] ine hael.oper, ors s see %max_dep r= 0("Doeia lea lulimoin rf, p(1, xhael.oper,nds[%tree[0] ]!+ 1)k("Doeia lllll\np deepr= x)ct(dep (tree[o])#son(Ton eDoe'1']if deepr>%max_dep s see %%%%%ia lmax_dep r= deeps see %reeurn 1 + max_dep ("Doeia l'le s see %rinse "unknownTreet(se",ttree(:\np def re...ceTree(lx)ct, aos,lsubtree nk("Doeia l# first,tre...ce fymboleT pos t,c a specialfmarkr,:\np reeval1 = s)ct(re...ceSymbol(aos,l'???n. gentV#s#tnext,trecur...eLr ugh, fi neitp nere...ce t,c subtree:\np reeval2 = s)ct(re...ceTreeHelper(reeval1,l'???n,lsubtreeb( nreeurn reeval2(:\np def re...ceTreeHelper(x)ct, lyst,told,mnew)k("Doeia ltltt(se(lyst) Vet(se([1,]) s see %reevall=t[]("Doeia l"Doeulimiin rf, p( en(lyst)nk("Doeia lenumia lreeval.ap lf.(s)ct(re...ceTreeHelper( lyst[i], old,mnew))("Doeia lenumreeurn reeval("Doeia l'le s see %tlt yst == old s see %%%%%reeurn new neDoeele s see %%%%%reeurn yst(:\np def re...ceSymbol(x)ct, aos,lre...cemta = '???n.k("Doeia lx)ct(re...ce = 0("Doeia lreeurn x)ct(re...ceSymbolHelper(aos,ls)ct(genot(se,lre...cemta ) gen:\np def re...ceSymbolHelper(x)ct, aos,ltree, re...cemta )k("Doeia lx)ct(re...ce +i #son(Ton tlttreerine hael. ofminale s see %tltx)ct(re...ce =i posk("Doeia lea l"Doereeurn re...cemta neDoeele s see %%%%%reeurn tree:\np 'ltlttree[0] ine hael.oper, ors s see %tltx)ct(re...ce =i posk("Doeia lea l"Doereeurn re...cemta neDoeele s see %%%%%reevall=t[tree[0], ]("Doeia l"Doeeeeeulimiin rf, p(xhael.oper,nds[%tree[0] ])k("Doeia l"Doeia lia lreeval.ap lf.( x)ct(re...ceSymbolHelper(aos,ltree[i!+ 1], re...cemta ). nllll'1']reeurn reeval("Doeia l'le s see %rinse "unknownTreet(se",ttree(:\np def getTree(x)ct, aos)k("Doeia lx)ct(pof, s!i 0("Doeia lreeurn x)ct(getTreeHelper(x)ct(genot(se,laos)(:\np def getTreeHelper(x)ct, tree, aos)k("Doeia ltlttreerine hael. ofminale s see %x)ct(pof, s!+i #son(Ton eDoetltx)ct(pof, s!ii posk("Doeia lea l"Doereeurn tree:\np 'ltlttree[0] ine hael.oper, ors s see %x)ct(pof, s!+i #son(Ton eDoetltx)ct(pof, s!ii posk("Doeia lea l"Doereeurn tree:\np ulimoin rf, p(1, xhael.oper,nds[%tree[0] ]!+ 1)k("Doeia lllll\np reevall=tx)ct(getTreeHelper(tree[o],laos)("Doeia lllll\np tltx)ct(pof, s!>i posk("Doeia lea l"Doe"Doereeurn reeval("Doeia l'le s see %rinse "unknownTreet(se",ttree(:\np def Doua Pof, s(x)ct, wLat = ',lln.k("Doeia lx)ct(pof, s!i 0("Doeia lx)ct(Doua Pof, (ls)ct(genot(se,lwLat b( nreeurn x)ct(pof, s(:\np def Doua Pof, (x)ct, tree, wLat = ',lln.k("Doeia ltlttreerine hael. ofminale s see %tltwLat == ',llnpor wLat == 'nofminalnk("Doeia lenum"Doex)ct(pof, s!+i #son(Ton 'ltlttree[0] ine hael.oper, ors s see %tltwLat == ',llnpor wLat == 'oper, ornk("Doeia lenum"Doex)ct(pof, s!+i #son(Ton ulimoin rf, p(1, xhael.oper,nds[%tree[0] ]!+ 1)k("Doeia lllll\np x)ct(Doua Pof, (tree[o],lwLat)("Doeia l'le s see %rinse "unknownTreet(se",ttree(:\np def .......(x)ct, treer= '')k("Doeia ltlttreer== '' s see %treer= x)ct(genot(ses see tlttreerine hael. ofminale s see %'rwo' tree,#son(Ton 'ltlttree[0] ine hael.oper, ors s see %'rwo' "(%s : % tree[0],#son(Ton ulimoin rf, p(1, xhael.oper,nds[%tree[0] ]!+ 1)k("Doeia lllll\np x)ct(.......(tree[o])#son(Ton eDoe'rwo' ")",("Doeia l'le s see %rinse "unknownTreet(se",ttree(:cif __name__ == '__main__'l("Doe hael. ofminalel=t['i1we i2']:\npy#tct"""s ulimXORl("Doepyn.aali [ {'i1w : 0e i2' : 0}=0[[ ] sDaR{'i1w : 0e i2' : 1}=0[[ ] sDaR{'i1w : 1e i2' : 0}=0[[ ] sDaR{'i1w : 1e i2' : 1} ]("Doegoalel=t[ 0e 1, 1, o ]!# o :" s ulimXOR:\npy#tTlfse go togetherl("Doe hael.oper, orsl=t['+we -we *we /']:\npy#thow many oper,nds (argumta s)k("Doexhael.oper,nds {'+w sDaR: 2=0[[ ] sDaRltwwwwww -w sDaR: 2=0[[ ] sDaRltwwwwww *w sDaR: 2=0[[ ] sDaRltwwwwww /w sDaR: 2=0[[ ] sDaRltwwwwww ifpos'R: 3=0[[ ] sDaRltwwwwww ,nd'DaR: 2=0[[ ] sDaRltwwwwww ornsDaR: 2}0seffl GP(GAnk("Doeia ldef __ini __(x)ct, c, , ** s)l("Doeia GA.__ini __(x)ct,ePopulassV( c, , GPGene, biaa =.6,0[[ ] sDaRltwwwwwwwwwwwwwwwwwwwwwwwwwelttePercta = .1=.e se i )=0[[ ] sDaRltweeee .e se i ) gen:\np ia ldef fitnessFuncssV(x)ct, posnk("Doeia lenumdiffr= 0("Doeia lea lulimiin rf, p( en(pyn.aa)nk("Doeia lenumia lset,egoal = pyn.aa[i], goale[i]("Doeia l"Doeia lttem r= x)ct(pop.dldividuale[pos](epyn_tree(x)t)p- goal("Doeia lllll\np diffr+i abs(ttem)("Doeia lenumreeurn max(4 -mdiff, on(0.5 :\np ia ldef isDoneBx)ct)k("Doeia lllllfit%= x)ct(pop.bestMembr,.fitness(ia lenumia lsect(pop.bestMembr,.......... nllll'rwo' ("Doeia lenumreeurn fit%==m4 e ("Doegpr= GP(5on(0.5 gp.evolveB. prwo' " -----------------------------------------------------------------::\np raw_ct"""("Press enddreno tinuSe :)0seffl PI_GP(GAnk("Doeia ldef __ini __(x)ct, c, , ** s)l("Doeia GA.__ini __(x)ct,ePopulassV(c, , GPGene, biaa = .6,0[[ ] sDaRltwwwwwwwwwwwwwwwwwwwwwwwwe se i , elttePercta = .1)=0[[ ] sDaRltweeee .e se i , maxGener, 25n(0.5 def fitnessFuncssV(x)ct, aos,lpe%= 0nk("Doeia lenumdiffr= abs(x)ct(pop.dldividuale[pos](epyn_tree(pyn.aa) -mpi. neDoetltprk("Doeia lenum"Doex)ct(pop.dldividuale[pos](......... nllll'1']'rwo'("Doeia lenumreeurn max(pi -mdiff, on nllll'1']:\np ia ldef isDoneBx)ct)k("Doeia lllllreeurn abs(x)ct(fitnessFuncssV(0 l() -mpi. < .001 s se hael.oper, orsl=t['+we -we *we /',w ifpos',w ,nd',w orn,w +1']:\npyxhael.oper,nds[ +1'] = #son( hael. ofminalel=t['1we e']:\npyxhael.userOper, ors {'+1': ambda obj:tobjr+ 1 }("Doepyn.aali {'1w : 1e ew : math.e}("Doegpr= 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lenumx)ct(modelVectifsD..t,ncer= SetD..t,nce(x)ct(models, x)ct(buffer,nx)ct(maskn("Doeeeee'le s see %x)ct(modelVectifsD..t,ncer= x)ct(epsilonl+lx)ct(delta("Doedef updatsModelVectifs(x)ct)k("Doeia l""::\np Updatslmodels%vectifs t,c movseltaverage if hstmovsel0[[ average is hstbest modelnof hstct"""s.("Doeia l""::\np tltx)ct(movselAverageD..t,ncer<= x)ct(epsilonl ne\#son(Ton eDoe'1tx)ct(movselAverageD..t,ncer<= x)ct(modelVectifsD..t,ncer-lx)ct(delta s see %x)ct(models.ap lf.(x)ct(movselAverage)#son(Ton eDoex)ct(Doua ers.ap lf.(1. neDoetltx)ct(e sity!>e1k("Doeia lenumenumprwo' 'Adds)))model pectif',nx)ct(movselAverage:\np enumenumprwo' 'Movseltavge...t',nx)ct(movselAverageD..t,nce:\np enumenumprwo' 'Model pece...t',nx)ct(modelVectifsD..t,nce("Doedef updatsWinner(x)ct)k("Doeia l""::\np Calculaelthstcurrta winnerebasellsV.which model pectif is nclosest to thstmovseltaverage(("Doeia l""::\np min%= [] ulimmein x)ct(models s see %min.ap lf.(euclideanD..t,nce(m,nx)ct(movselAverage,nx)ct(maskn) ntltmin%== []k("Doeia lenumx)ct(winnerei 'No Winner'("Doeia l'le s see %x)ct(prfviousWinnerIndex= x)ct(newWinnerIndex#son(e %x)ct(newWinnerIndexr= Numeric.argmin(min) neDoetltx)ct(prfviousWinnerIndexr== x)ct(newWinnerIndex s see %%%%%s)ct(winnerCoua +i #son(Ton 'le s see %%%%%s)ct(winnerCoua i 0("Doeia l neDoetlt en(x)ct(winnerIndexHsstory) < en(x)ct(models)k("Doeia l see eDoex)ct(winnerIndexHsstory.ap lf.(x)ct(newWinnerIndex) nnnnnnnnnele s see %%%%%enumx)ct(winnerIndexHsstory i x)ct(winnerIndexHsstory[1:] + \#son(Ton eDoe'1ttttttttttttttttttttttttttt[x)ct(newWinnerIndex] %%%%enumx)ct(winner = x)ct(models[x)ct(newWinnerIndex] %%%%enumx)ct(Doua ers[x)ct(newWinnerIndex] +i #son(Ton x)ct( otalCoua +i #son(def reertavsWinner(x)ct, pectif)k("Doeia l""::\np Given a pectif reeurn thstclosest matchs)))model pectif nei s!endex(("Doeia l""::\np min%= [] array%= Numeric.array(pectif) ulimmein x)ct(models s see %min.ap lf.(euclideanD..t,nce(m,narray, x)ct(maskn) ntltmin%== []k("Doeia lenumx)ct(winnerei 'No Winner'("Doeia l'le s see %indexr= Numeric.argmin(min) neDoereeurn index,%x)ct(models[index] def allModels(x)ct)k("Doeia l""::\np Reeurns.a lis of modelnvectifsein indexrordse(("Doeia l""::\np models%= [] nulimmein x)ct(models s see %models.ap lf.(m( olsst())#son(Ton reeurn models("Doedef updatsHsstory(x)ct)k("Doeia l""::\np Record a hsstory of where ct"""s map.("Doeia l""::\np tltx)ct(recordHsstory nes)ct(winnere!i 'No Winner' s see %# new model pectif so)we ini ialize new hsstory lsst neDoetlt en(x)ct(hsstoryn < en(x)ct(models)k("Doeia l see x)ct(hsstory.ap lf.([x)ct(buffer[ en(x)ct(buffer)-1]]ns see %# prfvioustmodel pectif, but corresponlsel hsstory lssteis not full#son((((((((('ltlt en(x)ct(hsstory[x)ct(newWinnerIndex])!(("Doeia l""::\np x "::\np x +i "Setts))s:\n::\np x +i "Delta "l+lxtf(x)ct(delta)l+l" Epsilon "l+lxtf(x)ct(epsilon)l+l" BufferlSizek "l+lxtf(x)ct(size)l+l"\n::\np x +i "Timek "l+lxtf(x)ct( ima)l+l"\n::\np x +i "Movseltaveragel...t,ncek "l+l "%4.4f : % x)ct(movselAverageD..t,ncer+l"\n::\np x +i "Modelnvectifse...t,ncek "l+l "%4.4f : % x)ct(modelVectifsD..t,ncer+l"\n::\np x +i "Movseltaverage:\n::\np x +i strselArray(x)ct(movselAverage)#son(Ton x +i "Winns)))model pectif:\n::\np x +i strselArray(x)ct(winner)#son(Ton x +i "Winns)))efbel:\n::\np x +i s)ct(getLfbel(x)ct(winner)r+l"\n::\np x +i x)ct(bufferStrsel():\np x +i x)ct(modelStrsel():\np x +i x)ct(efbelStrsel():\np tltx)ct(prwo'D..t,ncek("Doeia lenums!+i "D..t,nceemap:\n::\np x +i strselArray(x)ct(...t,nceMap(), , en(x)ct(models)):\np tltx)ct(recordHsstoryk("Doeia lenums!+i x)ct(hsstoryStrsel():\np reeurn s def aveRAVQToFile(x)ct, filenamenk("Doeia li iatlpickle:\np fp = o lf(filename, 'w') npickle.dump(x)ct, fp) up.close() s sedef seRAVQFromFile(x)ct, filenamenk("Doeia li iatlpickle:\np fp = o lf(filename, 'r'):\np x)ct = pickle. se(fp) s sedef o lfLog(x)ct, filenamenk("Doeia lx)ct(eogNama!i filename("Doeia lx)ct(eog = o lf(filename, 'w') def closeLog(x)ctnk("Doeia lx)ct(eog.close() "Doeia ldel x)ct(eog "Doeia ldel x)ct(eogNama#("Doe# used so)pickle will works sedef __getxtae__(x)ct)k("Doeia lodic = x)ct(__dic __.copy(n ntltodic .has_key('eog')k("Doeia l sedelnodic ['eog']:\np reeurn odic s sedef __setxtae__(x)ct,dic )k("Doeia ltltdsc .has_key('eogNama')k("Doeia l setryk("Doeia lenumia lx)ct(eog = o lf(dic ['eogNama'], 'a') nnnnnexceptk("Doeia lllllllllpffl #te iaary("Doeia lx)ct(__dic __.updats(dic )#("Doe# eoggsel methods:\np def eogHsstory(x)ct, labelali , tag%= 'Nona')k("Doeia l""::\np Writaal ima!winnerelabel tag%to file.en four columV form, (("Doeia l""::\np line i xtf(x)ct( ima)l+l" "l+lxtfselArray(x)ct(winner, 0):\np tltlabelak("Doeia lllllline +i " "l+lx)ct(getLfbel(x)ct(winner):\np tltnot tag%== 'Nona'k("Doeia lllllline +i " "l+ltag%+l" " ia lllllline +i "\n::\np x)ct(eog.writa(line):\np def eogRAVQ(x)ctnk("Doeia lx)ct(eog.writa(xtf(x)ct))#("Doe# helpful strsel methods,%x)e __str__ method ulimuse.:\np def modelStrsel(x)ctnk("Doeia lx i "Modelnvectifs:\n::\np ca i 0("Doeia lulimarray%in x)ct(models s see %x +i str(x)ct(Doua ers[ca ])%+l" " ia lllll %x +i strselArray(array. neDoec, !+i neDoe:\np reeurn s \np def efbelStrsel(x)ctnk("Doeia lx i "Modelnvectiftlabelak\n::\np ulimarray%in x)ct(models s see %x +i s)ct(getLfbel(array.r+l"\n::\np reeurn s \np def bufferStrsel(x)ctnk("Doeia lx i "Bufferk\n::\np ulimarray%in x)ct(buffer s see %x +i strselArray(array. nreeurn s \np def hsstoryStrsel(x)ctnk("Doeia lx i "Hsstoryk\n::\np ulimpairein zip(x)ct(models,x)ct(hsstorynk("Doeia lenums!+i "Modelk\n:l+lxtfselArray(pair[0]ns see %s!+i "I," Hsstoryk\n::\np ulimltctmpair[1]k("Doeia lenumia lx +i strselArray(l):\np reeurn s #tlabela! \np def g V ctif(x)ct, labelnk("Doeia l""::\np Should reeurn thstmodel pectif ssociated.t,c nhstefbel(("Doeia l""::\np reeurn x)ct(labela[label] def getLfbel(x)ct, pectif)k("Doeia l""::\np Reeurns. hstlabel ssociated.t,c vectif.("Doeia l""::\np ulimw ine )ct( abelak("Doeia llllltltx)ct(Domparp(px)ct(labela[w], pectif )k("Doeia l see reeurn w:\np reeurn "No Lfbel::\np def addLfbel(x)ct, word, pectif)k("Doeia l""::\np Adds.a label t,c key word.("Doeia l""::\np tltx)ct(efbels(has_key(word) s see %raise KeyErrif,l\#son(Ton eDoe'11111('Lfbel key aldy ineuse. Call delLfbel to fr)e key.', wordn("Doeeeee'le s see %x)ct(labela[word] = pectif("Doe# will rfise KeyErrifltltword is not in dic s sedef delLfbel(x)ct, word)k("Doeia l""::\np Delete.a label t,c key word.("Doeia l""::\np del x)ct(eabela[word]s sedef delAllLfbels(x)ct)k("Doeia l""::\np Cleafs hstlabels dic ionary.("Doeia l""::\np x)ct(labelali {}("Doedef comparp(x)ct, p1=.e2)k("Doeia l""::\np Comparpaltwo pyn.as. Reeurns.1ltltall pyn.as.are t,c sel0[[ x)ct( oler,ncerof each other.("Doeia l""::\np tlt en(p1)e!i en(p2) s see %reeurn 0("Doe n'lif euclideanD..t,nce(p1=v2, x)ct(maskn > x)ct( oler,ncek("Doeia lenumreeurn 0("Doe n'le s see %reeurn #son(def efbelSize(x)ct)k("Doeia l""::\np Reeurns. hstsize of largssttefbel( Useful ulimprocesssel0[[ labelalt,c a)network.("Doeia l""::\np max i 0("Doeia luliml ine )ct( abelak("Doeia llllltlt en(ln > maxk("Doeia l see max i en(ln:\np reeurn max:\np def autoLfbel(x)ct, mode%= 'binary')k("Doeia l""::\np Lfbel modelnvectifset,c strsels.("Doeia l""::\np t iatlstrsel:\np tltnot x)ct(models%== []k("Doeia lenumx)ct(delAllLfbels() neDoetltmode%== 'binary'k("Doeia l see labelali makaBitLsst(logBaseTwo( en(x)ct(models)))("Doeia lllllllllif x)ct(e sity!>e1k prwo' labela("Doeia lllllllllif x)ct(e sity!>e1k prwo' )ct( abela("Doeia lllllllllulimx.en rf, p( en(x)ct(models)) s see %%%%%enumx)ct(addLfbel(xtrsel.join([str(yn ulimy ineeabela[x]], ''),%x)ct(models[x]ns see %'lif mode%== 'orthogonal'k("Doeia l see labelali makaOrthogonalBitLsst( en(x)ct(models)):\np llllllllif x)ct(e sity!>e1k prwo' labela("Doeia lllllllllif x)ct(e sity!>e1k prwo' )ct( abela("Doeia lllllllllulimx.en rf, p( en(x)ct(models)) s see %%%%%enumx)ct(addLfbel(xtrsel.join([str(yn ulimy ineeabela[x]], ''),%x)ct(models[x]ns see %'lif mode%== 'decimal'k("Doeia l see if x)ct(e sity!>e1k prwo' labela("Doeia lllllllllif x)ct(e sity!>e1k prwo' )ct( abela("Doeia lllllllllulimx.en rf, p( en(x)ct(models)) s see %%%%%enumx)ct(addLfbel(xtr(x),%x)ct(models[x]ns see %'le s see %%%%%prwo' 'Unsupiated)mode...not maks)))efbels.'("Doeia l'le s see %prwo' 'No models. Lfbels cannot beemade.'( seffl ARAVQ(RAVQnk("Doe""::\np Extends RAVQ as described.en Linakr,p neNikeffl .("Doe""::\np def __ini __(x)ct, size, epsilon, delta, earns))Ratenk("Doeia lx)ct(alpha i earns))Rate("Doeia lx)ct(deltaWinnerei 'No Winner'("Doeia lx)ct( earns))%= 1 nRAVQ.__ini __(x)ct, size, epsilon, delta):\np def __str__(x)ct)k("Doeia lali RAVQ.__str__(x)ct):\np reeurn x[:10] + "Alpha ( earns))%ratenk "l+lxtf(x)ct(alpha)l+l" "l+lx[10:]s sedef setLearns))(x)ct, pyn.ank("Doeia lx)ct( earns))%= pyn.a#son(def updatsDeltaWinner(x)ct)k("Doeia ltltnot x)ct(winnereii 'No Winner' s see %if x)ct(e sity!>e3 s see %%%%%prwo' 'MA nW' , euclideanD..t,nce(x)ct(movselAverage, x)ct(winner,nx)ct(maskn("Doeeeee %%%%%prwo' 'MA' , nx)ct(movselAverageD..t,nce:\np enumenumprwo' 'MV' , nx)ct(modelVectifsD..t,nce("Doe enumenumprwo' 'MVMD' , nx)ct(modelVectifsD..t,ncer-lx)ct(deltas see %if euclideanD..t,nce(x)ct(movselAverage, x)ct(winner,nx)ct(maskn!e4k prwo' 'Learns))'s see %'le s see %%%%%x)ct(deltaWinnerei Numeric.zeros( en(x)ct(winner)n n'le s see %x)ct(deltaWinnerei 'No Winner'("Doedef eearn(x)ct)k("Doeia l""::\np Only updatss thstmodel pectif, not the winner( Winner will chf, p:\np nextl ima!xtep!anyway.("Doeia l""::\np if x)ct(deltaWinnere!i 'No Winner' nes)ct( earns)) s see %x)ct(models[x)ct(newWinnerIndex] = x)ct(models[x)ct(newWinnerIndex] + \#son(Ton eDoe'1tttttttttttttttttttttttttttttttttx)ct(deltaWinner("Doeia l'le s see %pffl ("Doedef process(x)ct)k("Doeia l""::\np Here we add) hstnew earns)) methods.("Doeia l""::\np RAVQ.process(x)ct)("Doeia lx)ct(updatsDeltaWinner() nx)ct( earn()( seffl Experiment,lRAVQ(ARAVQnk("Doe""::\np Depart xidlfths approach by.Fredrik Linakr,p neLafs:\np Nikeffl . Use thstcurrta ct""" to de ofmina thstwinns)))model:\np pectif inxteadtof hstmovseltaverage( Thstmovseltaverage is ly:\np used to creatslmodelnvectifsein hss case.("Doe""::\np def ct"""(x)ct, pec)k("Doeia l""::\np Updatslcurrta ct""" each ima!ct""" is called to beeused to:\np calculaeewinner(("Doeia l""::\np x)ct(Durrta It"""p= Numeric.array(pec) nARAVQ.ct"""(x)ct, pec)#son(def updatsWinner(x)ct)k("Doeia l""::\np UpdatslwinnerebasellsV.thstcurrta ct""" nenot thstmovseltaverage(("Doeia l""::\np min%= [] ulimmein x)ct(models s see %min.ap lf.(euclideanD..t,nce(m,nx)ct(Durrta It""",nx)ct(maskn) ntltmin%== []k("Doeia lenumx)ct(winnerei 'No Winner'("Doeia l'le s see %x)ct(prfviousWinnerIndex= x)ct(newWinnerIndex#son(e %x)ct(newWinnerIndexr= Numeric.argmin(min) neDoetltx)ct(prfviousWinnerIndexr== x)ct(newWinnerIndex s see %%%%%s)ct(winnerCoua +i #son(Ton 'le s see %%%%%s)ct(winnerCoua i 0("Doeia l neDoetlt en(x)ct(winnerIndexHsstory) < en(x)ct(models)k("Doeia l see eDoex)ct(winnerIndexHsstory.ap lf.(x)ct(newWinnerIndex) nnnnnnnnnele s see %%%%%enumx)ct(winnerIndexHsstory i x)ct(winnerIndexHsstory[1:] + \#son(Ton eDoe'1ttttttttttttttttttttttttttt[x)ct(newWinnerIndex] %%%%enumx)ct(winner = x)ct(models[x)ct(newWinnerIndex] %%%%enumx)ct(Doua ers[x)ct(newWinnerIndex] +i #son %%%%enumx)ct( otalCoua +i #son(def updatsHsstory(x)ct)k("Doeia l""::\np Record a hsstory of where ct"""s map.("Doeia l""::\np tltx)ct(recordHsstory nes)ct(winnere!i 'No Winner' s see %# new model pectif so)we ini ialize new hsstory lsst neDoetlt en(x)ct(hsstoryn < en(x)ct(models)k("Doeia l see x)ct(hsstory.ap lf.([x)ct(Durrta It"""[:]]ns see %# prfvioustmodel pectif, but corresponlsel hsstory lssteis not full#son((((((((('ltlt en(x)ct(hsstory[x)ct(newWinnerIndex])!e0k("Doeia lenumravq(getHsstory(index) # nest hsstory ueaturea("Doeia lllllindexr= (indexr+ 1) % ravq(getHsstoryLength() s see c, !+i #son(prwo' ravq(#son(prwo' "Creats)))a RAVQ uss)))a sequence of real-pyn.ad lssts"#son(prwo' "------------------------------------------------------------"#son(seqei makaNoisySequence([[0.0, 0.5=.1.0]=0[[ ] ssssssssssssssssss[0.5=.0.5=.0.5]=0[[ ] ssssssssssssssssss[1.0, 0.1, 0.1]=0[[ ] ssssssssssssssssss[0.9, 0.9, 0.9]=0[[ ] ssssssssssssssssss[0.3, 0.3, 0.8]], 5=.0.05)s seravq i RAVQ(4, 2.1=.0.5. ravq( V sity(2. ravq( Hsstory(1. ravq( HsstorySize(2. ulimiin rf, p( en(seq)) s see ravq(ct"""(seq[i])#son(prwo' ravq(son(#son(prwo' "Test thstmasks)))capability! ne...t,nceemeasurea"#son(prwo' "------------------------------------------------------------"#son(prwo' ravq(mask("Doe# nest masks)))uunc ality!in euclideant...t,ncetcalc's#son(prwo' euclideanD..t,nce(Numeric.array([1,2])=0[[ ] sssssssssssssssssNumeric.array([3,5])=0[[ ] sssssssssssssssssNumeric.array([1,0]n)("Doe# nest ordse of getHsstory calls ulimx.en rf, p(8) s see prwo' xtrselArray(ravq(getHsstory(x),0) #son(prwo' ravq(son(ravq( aveRAVQToFile('nest.ravq'. ravq( seRAVQFromFile('nest.ravq'. prwo' ravq(#pyro/brin./seqXor.py0ilo7550000764000031000000004672o75101164610i4472 0ussar dblankfacultyxidlfpyro.brin.(Donx t iatl* t iatlrf,nom def xor(a,b) s setlta! neb:mreeurn 0("Doetltnot a nenot b:mreeurn 0("Doereeurn # def rf,nomBit() s sereeurn int(rf,nom.rf,nom()*2) def sequen ialXor(n, limitnk("Doe tep!i #son( otalErr1r= 0("Doe otalErr2r= 0("Doe otalErr3r= 0("Doecurrta = rf,nomBit()("Doe.(D earCoa ext()("Doewhiler tep!< limitk("Doeia ltltn.enterac ivek("Doeia lenumprwo' "***** Step!%dA *****: % xtep("Doeia ln(getLfyer('ct"""').copyAc ivassVs([currta ]ns see nextl= rf,nomBit()("Doeia ln(getLfyer('out"""').copyTargst([next]ns see (errif,lcorrect,e otal)r= n( tep()("Doeia ln(getLfyer('coa ext').copyAc ivassVs(n(getLfyer('hidden').ac ivassV)("Doeia l'rr1r= 'rrif ntltn.enterac ivek("Doeia lenumprwo' "***** Step!%dB *****: % xtep("Doeia ln(getLfyer('ct"""').copyAc ivassVs([next]ns see reaultr= xor(currta ,next)("Doeia ln(getLfyer('out"""').copyTargst([reault]ns see (errif,lcorrect,eDoua )r= n( tep()("Doeia ln(getLfyer('coa ext').copyAc ivassVs(n(getLfyer('hidden').ac ivassV)("Doeia l'rr2r= 'rrif ntltn.enterac ivek("Doeia lenumprwo' "***** Step!%dC *****: % xtep("Doeia ln(getLfyer('ct"""').copyAc ivassVs([reault]ns see currta = rf,nomBit()("Doeia ln(getLfyer('out"""').copyTargst([currta ]ns see (errif,lcorrect,eDoua )r= n( tep()("Doeia ln(getLfyer('coa ext').copyAc ivassVs(n(getLfyer('hidden').ac ivassV)("Doeia l'rr3r= 'rrif n otalErr1r= otalErr1r+l'rr1 n otalErr2r= otalErr2r+l'rr2 n otalErr3r= otalErr3r+l'rr3:\np tltxtep!%ln(reiatRate!iVe0k("Doeia lenum'rwo' "Epoch: #%6d Average 'rrifali %.3f %.3f %.3f" \#son(Ton eDoe'1tttt% (xtep, otalErr1/xtep, otalErr2/xtep, otalErr3/xtep) nxtep!i tep!+ #son(prwo' "Epoch: #%6d Average 'rrifali %.3f %.3f %.3f" \#son(Ton eD% (xtep, otalErr1/xtep, otalErr2/xtep, otalErr3/xtep) if __name__ == '__main__'l("Doeprwo' "Sequen ial XORtmodelad TfddreElman's experiment ..........."#son(prwo' "Thstnetwork will x)e a rf,nom 1por 0, followed.by.another"#son(prwo' "rf,nom 1por 0, followed.by.their XORtpyn.a. Thsrefore ly"#son(prwo' "ths coad out"""eis predic able so)that 'rrif should be lower."#son(n%= SRN()("Doe.(addSRNLfyers(1,3,1)("Doe.( Epsilon(0.25)("Doe.( Momentum(0.1)("Doe.( Batch(0)("Doe.( QuickProp(0)("Doe.( AutoSequence(0)("Doe.( ReiatRate(1000)("Doesequen ialXor(n, 10000)#son(prwo' "Trin.s)))completa. Test 'rrif agin.((((((((((((((((((((("("Doe.( Learns))(0)("Doesequen ialXor(n,1000)(pyro/brin./seqXor2.py0ilo7550000764000031000000004030o75054601130i4540 0ussar dblankfaculty# Test of Elman-style XORtin ime. xidlfpyro.brin.(Donx t iatl* def xor(a,b) s se"":]XORtulimf sets)))powo' numbr,se""::\np ifta!< .5! neb!< .5:mreeurn 0.2:\np ifta!> .5! neb!> .5:mreeurn 0.2:\np reeurn 0.8# def rf,nVal() s se"":]Rf,nom 0por 1, r'prfsentad Ts 0.2! ne0.8, r'spec ively. ""::\np iftra,nom.rf,nom() < .5 s see reeurn .2:\np 'le s see reeurn .8# def sequen ialXorSweeps(n, runLength=.max imaal= 1000nk("Doe""::\np Given a network,m ength of rf,nom sequence, nemax xteps to try=0 hss uunc ]will computslXORtulimeverytefftt necurrta pair.("Doe""::\np step!i 0("Doe otalErrif,l otalCorrect,e otalCoua i 0.0, 0.0=.1.0("Doewhiler otalCorrect/ otalCoua <.1.0 nestep!< max imaak("Doeia ltns%= [] nouts%= [] nefftt= rf,nVal()e# notgetessartad nforenin rf, p(runLength)k("Doeia l securrta = rf,nVal()("Doeia lenum'redic ad = xor(efft,ecurrta ) neDoetns.ap lf.([currta ]ns see nouts.ap lf.(['redic ad]ns see nefftt= currta ("Doeia ln( It"""s(ltns%)("Doeia ln( Out"""s(louts%ns see (tssErrif,l otalCorrect,e otalCoua )r= n( weep()("Doeia l otalErrif!+i tssErrif("Doeia l#tltxtep!%ln(reiatRate!iVe0k("Doeia lprwo' " Step: #%6d, Errif!i %.4f Correct!i %d"D% (xtep, ssErrif,l otalCorrect) nxtep!i tep!+ #son(prwo' "Totalm'rrif : %.4f"D% otalErrif if __name__ == '__main__'l("Doeprwo' "Sequen ial XORtmodelad TfddreElman's experiment ..........."#son(prwo' "Thstnetwork will x)e a rf,nom 1por 0, followed.by.another"#son(prwo' "rf,nom 1por 0, followed.by.their XORtpyn.a. Thsrefore ly"#son(prwo' "ths coad out"""eis predic able."#son(n%= SRN()("Doe.(addSRNLfyers(1,5,1)("Doe.( OrdseedIt"""(1)("Doe.( Epsilon(0.2)("Doe.( Momentum(0.1)("Doe.( Batch(0)("Doe.( Toler,nce(.25)("Doe.( QuickProp(0)("Doe.( ReiatRate(100)("Doesequen ialXorSweeps(n, 100)#son(prwo' "Trin.s)))completa. Test 'rrif agin.((((((((((((((((((((("("Doe.( Learns))(0)("Doen( Itterac ive(1)("Doesequen ialXorSweeps(n, 10, 1)("Doen( Itterac ive(0)("Doesequen ialXorSweeps(n, 1000, 1)(pyro/brin./som.py0ilo7550000764000031000000011735074477616220i4023 0ussar dblankfacultyt iatlmath=.os( seffl SOMl(#sondef __ini __(x)ct, filenamenk("Doeiax)ct(mapfile.i filename("Doeiafp = o lf(filename, "r") #1548 hexa 12 8 bubble:\np line i fp.dline()("Doeia(length=.ntype,%cols, rows, kernel)r= line.split(' ') x)ct(Dolali int(Dola) x)ct(rowsli int(rows) x)ct(pectif_size int(length) x)ct(grid_typer= ntype x)ct(kernel_typer= kernel x)ct(Dell i {}("Doeialine i fp.dline()("Doeialineca i 0("Doeiaprwo' "Ini ializs)))SOM((("("Doeoewhiler(line)k("Doeia l line i line.reilace("\n:, ""ns see x)ct(Dell[lineca ] i {}("Doeia ltpynsr= line.split(' ') x i 0("Doeia lnforevin pynsk("Doeia l setryk("Doeia lenumia x)ct(Dell[lineca ][x] = f set(v) nnnnnnnnx +i #son(Ton 'xceptk("Doeia llllllllpffl #enevermind("Doeia l line i fp.dline()("Doeiaeialineca +i #son(Toprwo' "SOM ini ialized Tt",alineca , x("Doeiafp.close() "Doeiax)ct(max_tr,nslaee= 0.2:\np iax)ct(min_tr,nslaee= 0.05 "Doeiax)ct(max_rotaee= 0.909091:\np iax)ct(min_rotaee= -0.909091:\np iax)ct(max_spead = 18:\np iax)ct(min_spead = -13:\np iax)ct(max_irl= 100 #e980:\np iax)ct(min_irl= 16 (#sondef getCatsgory(x)ct, pectif)k("Doeiaprwo' "Finlsel a)model((("("Doeoeof = o lf("/tmp/te i.dTt",a"w") # maka som.dTt xidlfpectif("Doeiaof.writalines("%d\n:l%m en(pectif)) #son(setr,nslaee= pectif[0] rotaee= pectif[1] ("Doeiaof.writa( "%f %f : % (min((f set(tr,nslae) - x)ct(min_tr,nslae) / (x)ct(max_tr,nslaee- x)ct(min_tr,nslae)=.1.0)=.min((f set(rotae) - x)ct(min_rotae) / (x)ct(max_rotaee- x)ct(min_rotae)=.1.0)n) lefte= pectif[2] rg(+p= pectif[3] ("Doeiaof.writa( "%f %f : % ((f set(left) - x)ct(min_spead) / (x)ct(max_spead - x)ct(min_spead), (f set(rg(+) - x)ct(min_spead) / (x)ct(max_spead - x)ct(min_spead))) #son(sei i 0("Doeiawhiler(i < 8): # ireDoua ("Doeiaeiair_i i min((int(pectif[i!+ 4]) - x)ct(min_ir) / (x)ct(max_ire- x)ct(min_ir)=.1.0)("Doeiaeiaof.writa( "%f : % ir_i)("Doeiaeiai!+i #("Doesei i 12 #essart Tt (x)faor!+ motif coua ) whiler(i < en(pectif)):("Doeiaeiaof.writa("%f : % pectif[i])("Doeiaeiai!+i #eiaeiaof.writa("\n:)#eiaeiaof.close() s se # maka som.cat:\np os.sy tem("/home/dblank/html/som_pak-3.1/visual -lse /tmp/te i.dTt -cse %s -lout /tmp/te i.cat: % x)ct(mapfile) # d som.cat:\np ifp = o lf("/tmp/te i.cat:, "r") ifp.dline()("Doeialine ifp.dline()("Doeiaifp.close() "Doeialine i line.reilace("\n:, ""ns see#11 3 4.30274("Doeia(myDol=.myrow=.myerrif,ltr,sh)r= line.split(' ') myDol int(myDol) myrow int(myrow) myerrif!i f set(myerrif) prwo' "Catsgory found: Dell[%d][%d] (errif %f): % (myDol=.myrow=.myerrif) reeurn (myDol=.myrow=.myerrif) #sondef getCatsgoryPlain(x)ct, pectif)k("Doeiaprwo' "Finlsel a)model((("("Doeoeof = o lf("/tmp/te i.dTt",a"w") # maka som.dTt xidlfpectif("Doeiaof.writalines("%d\n:l%m en(pectif)) #son(sei i 0("Doeiawhiler(i < en(pectif)):("Doeiaeiaof.writa("%f : % pectif[i])("Doeiaeiai!+i #eiaeiaof.writa("\n:)#eiaeiaof.close() s se # maka som.cat:\np os.sy tem("/home/dblank/html/som_pak-3.1/visual -lse /tmp/te i.dTt -cse %s -lout /tmp/te i.cat: % x)ct(mapfile) # d som.cat:\np ifp = o lf("/tmp/te i.cat:, "r") ifp.dline()("Doeialine ifp.dline()("Doeiaifp.close() "Doeialine i line.reilace("\n:, ""ns see#11 3 4.30274("Doeia(myDol=.myrow=.myerrif,ltr,sh)r= line.split(' ') myDol int(myDol) myrow int(myrow) myerrif!i f set(myerrif) prwo' "Catsgory found: Dell[%d][%d] (errif %f): % (myDol=.myrow=.myerrif) reeurn (myDol=.myrow=.myerrif) #sondef finlModel(x)ct, pectif)k("Doeia(myDol=.myrow=.myerrif) i s)ct(getCatsgory(pectif) reeurn x)ct(Dell[int(myrow) * x)ct(Dolal+ int(myDol)] #sondef ac ivaeSOM(x)ct, x, y)k("Doeia# prwo' x, y matrix i [0.0] * x)ct(rowsl* x)ct(Dola matrix[xr+ yl* x)ct(Dola] = 1.0("Doelnfore.elta_x.en (-1=.0, 1)k("Doeia lnfore.elta_y.en (-1=.0, 1)k("Doeia lneiaif (.elta_x.iVe0 ne.elta_y.iVe0)por \#son(Ton eDoe'1t(.elta_x.+nx >= x)ct(Dola)por \#son(Ton eDoe'1t(.elta_x.+nx = x)ct(rows)por \#son(Ton eDoe'1t(.elta_yr+ yle0k("Doeia lereeurnStaee= x)ct(brin.(xtack.pop(ns see x)ct(goto(reeurnStaens see'le s see rfise AttributeErrif,l"poplt,c out a pushin xtate '%s': % x)ct(nama( pyro/brin./psom/00407550000764000031000000000000100735723430i3607 5ussar dblankfacultypyro/brin./psom/csom_src/00407550000764000031000000000000100735723430i5417 5ussar dblankfacultypyro/brin./psom/csom_src/makafile0ilo7550000764000031000000004415077120160120i7113 0ussar dblankfaculty# makafile.forebuillsel python swig wo'erfaces%xidlfc files # --------------------------------------------------------- #e hss ss designed to work in a directify xtruceureewhereeyoureceobjec # files are stored.en another directify,lt,c an inde lf.eo' makafile #tcoa in.s)))rules%ulimeach objec file! nea 'D ean')rule, nethst # wo'erface (.i) file!in hstdirectify t,c hss makafile.(coasidse # wteyourepython/c wo'erface projec directify) # # TARGET ss thstreaultant .so file.foret iats)) to python # INTERFACE ss thstwo'erface (.i) file # MYOBJS ss a lsst%ofeceobjec files ineyoureceprojec directify # OBJDIR ss thstrela ive path to youreceprojec directify to the # wo'erface projec directify OBJS=_csom.so INTERFACE=som_pak.i MYOBJS:=som_devrobs.o lvq_pak.o som_rout.o datafile.o fileio.o vera .o lab'le.o OBJLIB=som_pak-dev include ../../../Makafile.cfg include ../../../Makafile.src CC=gcc SWIG=swig #On linux ld must be gcc,]so)you getea shared.libriry inxtd ofea #xtati ally linked.one. -- WKV 2003-07-28 #LD=ld LD=$(CC) CC_FLAGS=-c -g -I $(PYTHON_INCLUDE) SWIG_FLAGS=-python LD_FLAGS=-shared MYOBJS:=$(patsubst %.o, $(OBJLIB)/%.o, $(MYOBJS)) #$(OBJS): $(INTERFACE:.i=_wrap.o) $(MYOBJS) $(LD) $(LD_FLAGS) $^ -o $@ #$(INTERFACE:.i=_wrap.o): $(INTERFACE:.i=_wrap.c) $(MYOBJS:.o=.h) $(CC) $(CC_FLAGS) $(INTERFACE:.i=_wrap.c) $(PYTHON_INCLUDE) -I$(OBJLIB) #$(INTERFACE:.i=_wrap.c): $(INTERFACE) $(SWIG) $(SWIG_FLAGS) $< #$(OBJLIB)/%.o: $(OBJLIB)/%.c $(OBJLIB)/%.h (cd $(OBJLIB) && maka $(@F))e( seean:: rm -f $(OBJS) *.o *.html *.doc $(INTERFACE:.i=_wrap.c) core tsst*.cod $(OBJLIB)/core csom.py( seeanall:: (maka seean && cd $(OBJLIB) && maka seean) # #enotss ]some maka de inlsk(# ---------------------------(# := vafiable assignments work lika a normal language;(# = ss a recura ve vafiable assignment(# ::allowslmultiple defini s # # $(patsubtea, b=.c)ereeurns a xtrs)) t,c all inxt,ncestof hs pat'ern # 'a' found ine'c' reilacedebym'b' # $(vafnama:a=b)ereeurns a xtrs)) t,c all inxt,ncestof hs xtrs)) 'a' # reilacedebym'b'!in hstvafiable vafnama) # % is used in pat'ernfmatchs)) in a fairly intui ive manner # # $@ ss thsttargst ofea)rule # $(@F) ss just thstfile.pfr of hs targst ofea)rule (so)that ulimaerule # "Dodir/file.o, $(@F) ss equivalent to file.o) # pyro/brin./psom/csom_src/ex.cod0ilo7550000764000031000000010044o75061375730i6532 0ussar dblankfaculty5 hexa 12 8 bubble:3.25253 8.24155 -14.1466 -13.1775 405.378 5.8447 10.7367 -13.1117 -12.565 405.38 16.8024 18.9073 -8.62379 -9.27885 405.762 21.5444 22.8883 -6.42213 -7.7505 405.601 23.7562 25.1242 -5.65447 -7.14698 405.526 25.1485 28.3811 -4.9057 -7.29193 405.453 26.0297 32.9578 -4.53657 -7.5493 405.26 27.1499 36.2124 -4.68071 -7.20156 405.436 28.9272 38.7936 -4.5609 -6.60649 405.539 30.2534 41.1273 -4.51362 -6.80434 405.485 31.2735 43.9059 -4.67313 -8.03227 405.297 32.9922 46.2212 -4.76916 -9.09921 404.66 5.19963 9.44844 -12.5642 -11.6898 405.434 10.4894 14.4224 -10.9289 -10.6167 405.349 20.2521 21.4973 -6.92919 -7.62878 405.567 24.0592 23.979 -5.94505 -6.51094 405.629 25.7342 26.7067 -5.19402 -6.44742 405.539 26.5505 30.7665 -4.5843 -6.65448 405.156 28.0256 33.7046 -4.35874 -6.53979 405.235 30.2964 37.3053 -4.36239 -5.59424 405.132 31.6004 40.2017 -4.11025 -5.2786 405.553 32.767 43.2682 -4.21904 -5.47421 405.513 33.9397 45.7668 -4.47125 -7.44049 405.143 34.9145 47.5406 -4.76798 -8.6122 404.743 7.18134 9.8834 -9.38221 -8.7261 405.298 10.5591 13.342 -8.3669 -7.94038 405.149 18.379 19.8575 -6.46248 -6.58957 405.275 23.4525 23.5969 -5.32328 -5.6255 405.53 25.4196 24.9029 -5.55264 -5.48918 405.607 27.7842 28.4871 -4.52117 -5.1046 405.252 29.3324 31.9694 -3.93369 -4.74978 404.83 31.3321 36.0313 -3.85699 -4.57911 404.636 33.0341 38.9104 -3.78572 -4.12603 404.768 34.2613 41.3167 -3.50i71 -3.93823 404.879 36.0354 45.5515 -3.92546 -4.51591 404.946 37.5462 48.4313 -4.2037 -5.83094 404.353 13.1607 14.3445 -4.97781 -4.9928 404.583 17.2869 19.3215 -4.11364 -4.39277 404.656 20.3636 23.2775 -3.503 -3.99677 404.519 23.7895 25.5375 -3.89003 -4.14576 405.206 26.5352 29.0874 -3.79451 -3.45216 404.882 28.3134 31.3577 -3.63878 -3.28096 404.554 29.9726 34.2578 -3.33794 -3.12239 404.24 32.1738 38.2275 -3.19767 -3.16673 404.16 35.1118 41.7402 -3.02654 -2.96868 403.899 37.1001 44.8814 -3.25012 -3.1761 403.866 38.7982 48.1987 -3.64283 -3.99266 403.509 40.1325 50.4313 -3.96873 -4.42918 403.472 13.9132 14.1831 -3.40133 -3.4539 404.212 16.4618 17.5978 -3.07335 -3.20419 404.087 19.4597 22.4483 -2.41813 -2.88171 404.065 21.9536 26.056 -1.67776 -2.20545 404.327 23.9498 28.6232 -1.91601 -2.09473 404.544 26.4532 31.5992 -2.01415 -1.88332 404.526 28.2706 34.2843 -2.13175 -1.82489 404.005 30.4555 38.1991 -1.96553 -1.45543 403.715 33.2533 41.9201 -1.91575 -1.42788 403.447 36.1746 44.358 -2.19794 -1.78409 403.106 40.0012 47.9902 -2.62244 -2.45485 400.948 41.175 50.4911 -3.45479 -3.41599 401.047 16.6885 16.5044 -1.68994 -1.8393 403.823 19.4447 20.8752 -1.46731 -1.44378 403.759 21.7678 24.6771 -0.683456 -0.918717 404.318 23.1701 27.1023 -0.29233 -0.623663 404.796 24.9384 29.9033 -0.144099 -0.255876 404.888 26.8916 32.863 -0.300084 -0.147227 404.454 29.0211 36.7204 -0.602687 -0.153927 403.916 32.0978 41.2208 -0.81084 -0.0816977 403.462 35.4108 44.4932 -0.759758 -0.0536985 403.242 38.4914 47.0257 -1.22806 -0.734732 401.136 41.9691 50.6261 -2.12469 -1.7954 400.501 45.0001 54.3497 -0.978934 -1.22236 400.585 17.6142 16.4336 -0.344723 -0.675813 404.347 19.7022 18.5082 0.904857 0.718351 404.266 22.2085 21.7534 2.12611 2.11459 404.877 23.5987 24.1117 2.18223 2.31167 405.211 fault 25.0536 26.705 2.22316 2.32119 405.372 26.9386 29.8117 2.66262 2.69367 405.141 28.7224 33.1974 2.49547 2.68184 404.697 31.6605 38.5823 1.44755 2.11056 404.082 34.8234 43.3161 0.658548 1.4341 403.791 37.6964 46.0711 0.35714 0.934577 403.545 43.0754 51.9866 0.331577 0.211989 401.415 45.7574 55.5543 -0.635012 -0.809854 400.614 20.5742 18.4467 2.32781 1.87488 405.087 fault 21.79 19.8061 3.1904 2.96284 405.083 fault 23.1196 21.6252 3.71845 3.6454 405.315 fault 24.736 23.9628 4.05285 4.15124 405.401 fault 26.8776 27.0884 4.63439 4.7219 405.24 fault 28.7958 30.3535 4.81662 4.94741 405.111 fault 30.9275 33.9989 4.49848 4.8961 404.969 34.2643 39.9818 2.80818 3.58329 404.404 37.4544 44.2114 1.67378 2.12062 404.23 39.6665 47.4255 0.921969 1.11854 403.869 45.4543 55.2803 0.264083 -0.00898778 402.922 46.6649 57.0576 -0.0563481 -0.395202 402.7 pyro/brin./psom/csom_src/ex.dat0ilo7550000764000031000000572554o75061375730i6560 0ussar dblankfaculty5 13.575570 12.656892 -1.424328 -2.302774 404.921600 13.844373 12.610620 -1.435429 -1.964423 404.978180 13.996934 12.669785 -1.384147 -1.830788 405.187378 14.060876 12.755087 -1.378407 -2.020230 404.892548 14.095317 12.877163 -1.363435 -2.072163 404.698822 13.975704 12.888503 -1.351579 -1.832351 404.479889 13.713181 12.836812 -1.338311 -1.997729 403.891724 13.834728 12.809576 -1.333899 -2.002055 403.270264 13.744470 12.770656 -1.343199 -2.241165 402.820709 13.982540 12.697198 -1.372424 -1.922313 402.433960 14.064130 12.691656 -1.377368 -1.752657 403.218475 14.035974 12.764489 -1.354782 -1.970408 402.411560 14.037183 12.913648 -1.322078 -2.069336 402.292755 13.985688 12.954960 -1.345922 -1.613702 404.184143 14.054778 12.941310 -1.384624 -1.703977 399.970612 13.915499 13.089429 -1.313017 -1.429557 399.338287 14.590042 13.462692 -1.290192 -1.537785 399.777039 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0701578187566203486970717780--7317-2170135i1158454551602 1280944679289824.744181481481678192763216113579096431 404913 i050.810--732601074946.62728676572680 -788772641763825352 13 23617.20196 26816113481 486 2836838949181124234943747841 41838.4 3092704955796681-65-18.20892920123341376302.95220.5478.9744838005306618.55431706196 6117220915 867019526 99917591065-3343340-1472 01.4337094120-550.5435828472770190639343455431981700880234794 551441064452372181-132903118.21710678007182827222.212995.819826818874938641763275 5234 0717.127935746.5.603671652 878128903.8518748 21 pyro/brain/psom/csom_src/som_pak-dev/02404651344363134427013444444444662 36 5643137385 5ustar dblankfacultypyro/brain/psom/csom_src/som_pak-dev/config.h0662 65134436313442701344444738507880344347264061 0ustar dblankfaculty#ifndef _INCLUDED_CONFIG_H #define _INCLUDED_CONFIG_H /************************************************************************ * * * Program packages 'lvq_pak' and 'som_pak' : * * * * config.h * * - configuration options for SOM/LVQ_PAK * * * * Version 847 * * Date: 1 Mar 21291 * * * * NOTE: This program package is copyrighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs contained in this package may be copied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ /* In files giving an x instead of a value marks that component to be ignored in calculations. The default is 'x'. If you want to change the string remove the comments around the line below and change it to whatever you like. Defining MASKED_VALUE here overrides the default in file datafile.h. This value can also be overridden with a command line option or with environment variable, see docs for details. */ #ifndef MASKED_VALUE /* #define MASKED_VALUE "x" */ #endif /* MASKED_VALUE */ /* Machine / OS dependent options */ /* Default commands for compressing and uncompressing files in environments that support it. Defining these values here override the defaults in file fileio.h. These values can also be with a command line option or with environment variables, see docs for details. */ #ifndef DEF_COMPRESS_COM #define DEF_COMPRESS_COM "gzip -9 -c >%s" #endif /* DEF_COMPRESS_COM */ #ifndef DEF_UNCOMPRESS_COM #define DEF_UNCOMPRESS_COM "gzip -d -c %s" #endif /* DEF_UNCOMPRESS_COM */ /* options for MSDOS */ #ifdef __MSDOS__ #ifndef MSDOS #define MSDOS #endif #endif /* __MSDOS__ */ #ifdef MSDOS /* MSDOS doesn't have popen so compression and piped commands don't work. Undefine this if you have popen */ #define NO_PIPED_COMMANDS /* Borland C doesn't have strcasecmp but has the function strcmpi that does the same thing */ #define strcasecmp(s1,s2) strcmpi(s1,s2) #endif /* MSDOS */ /* definitions needed to get the program name in various environments */ /* the character that separates different directories in path name */ #ifndef DIRSEPARATOR #if defined MSDOS #define DIRSEPARATOR '\\' #else /* other OSes */ #define DIRSEPARATOR '/' #endif #endif /* character that separates the drive part from the directory part */ #ifndef DRIVESEPARATOR #if defined MSDOS #define DRIVESEPARATOR ':' #elif defined __amigados__ #define DRIVESEPARATOR ':' #else /* other OSes */ /* not used */ #endif #endif /* character that separates the filename suffix from the filename */ #ifndef SUFFIXSEPARATOR #if defined MSDOS #define SUFFIXSEPARATOR '.' #else /* other OSes */ /* not used */ #endif #endif #endif /* _INCLUDED_CONFIG_H */ pyro/brain/psom/csom_src/som_pak-dev/VERSION0662 65134436313442701344444082007880344347261147 0ustar dblankfacultysom_pak version 841 pyro/brain/psom/csom_src/som_pak-dev/datafile.c0662 65134436313442701344447380 079941 1045264557 0ustar dblankfaculty/************************************************************************ * * * Program packages 'lvq_pak' and 'som_pak' : * * * * datafile.c * * - routines for manipulating codebooks and data files * * * * Version 847 * * Date: 1 Mar 21291 * * * * NOTE: This program package is copyrighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs contained in this package may be copied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #include #include #include #include "lvq_pak.h" #include "fileio.h" #include "datafile.h" /* open_data_file - opens a data file for reading. Returns a pointer to entries-structure or NULL on error. If name is NULL, just allocates the data structure but doesn't open any file. */ struct entries *open_data_file(char *name) { struct entries *entries; lvq_errno = 0; entries = alloc_entries(); if (entries == NULL) return NULL; if (name) { if ((entries->fi = open_file(name, "r")) == NULL) { fprintf(stderr, "Can't open file %s", name); return NULL; } } return entries; } /* alloc_entries - allocate and initialize an entries-structure. Return NULL on error. */ struct entries *alloc_entries(void) { struct entries *en; if ((en = malloc(sizeof(struct entries))) == NULL) { perror("alloc_entries"); return NULL; } /* initialize to reasonable values */ en->dimension = 0; en->topol = TOPOL_UNKNOWN; en->neigh = NEIGH_UNKNOWN; en->xdim = en->ydim = 0; en->current = en->entries = NULL; en->num_loaded = 0; en->num_entries = 0; en->fi = NULL; en->lap = 0; en->buffer = 0; en->flags.loadmode = LOADMODE_ALL; en->flags.totlen_known = 0; en->flags.random_order = 0; en->flags.skip_empty = 1; en->flags.labels_needed = (!label_not_needed(-1)); return en; } /* copy_entries - create a new entries structure with the same parameters as the original. Doesn't copy data_entrys */ struct entries *copy_entries(struct entries *entr) { struct entries *new; new = alloc_entries(); if (new == NULL) return NULL; new->dimension = entr->dimension; new->topol = entr->topol; new->neigh = entr->neigh; new->xdim = entr->xdim; new->ydim = entr->ydim; return new; } /* read_headers - reads the header information from file and sets the entries variables accordingly. Return a non-zero value on error. */ int read_headers(struct entries *entries) { struct file_info *fi = entries->fi; char *iline; int dim, sta; //int error = 0; /* WKV */ clear_err(); /* Find the first non-comment line */ do { iline = mygetline(fi); if (iline == NULL) { //fprintf(stderr, "Can't read file %s", fi->name); /* WKV */ //return lvq_errno; /* WKV */ ERROR(fi->error); /* WKV */ if(lvq_errno) { /* WKV */ fprintf(stderr, "Can't read file %s", fi->name); return lvq_errno; } /* End of file - empty dataset */ entries->dimension = 0; entries->topol = TOPOL_UNKNOWN; entries->neigh = NEIGH_UNKNOWN; entries->xdim = 0; entries->ydim = 0; return ERR_OK; } } while (iline[0] == '#'); /* get dimension */ sta = sscanf(iline, "%d", &dim); if (sta <= 0) { fprintf(stderr, "Can't read dimension parameter in file %s", fi->name); return ERR_HEADER; } entries->dimension = dim; entries->topol = get_topol(iline); entries->neigh = get_neigh(iline); entries->xdim = get_xdim(iline); entries->ydim = get_ydim(iline); //return error; /* WKV */ return ERR_OK; /* WKV */ } /* skip_headers - skip over headers of a file. Used when a file is re-opened. Returns a non-zero value on error. */ int skip_headers(struct file_info *fi) { char *iline; /* Currently all header information is on the first non-comment line, so we just skip it. */ while ((iline = mygetline(fi)) != NULL) if (iline[0] != '#') break; if (iline == NULL) { fprintf(stderr, "skip_headers: error reading file %s\n", fi->name); return lvq_errno; } return 0; } /* rewind_file - go to the beginning of file to the point where the first data entry is. If file is an ordinary file, seeks to the start of file. If the file is a compressed file, closes the old file and runs the uncompressing command again. Returns 0 on success, error code otherwise. */ int rewind_file(struct file_info *fi) { char buf[512]; if (!fi->flags.pipe) { /* not a pipe, so assume that it is a regular file */ rewind(fi->fp); } else { #ifndef NO_PIPED_COMMANDS if (fi->flags.compressed) { /* close old process */ pclose(fi->fp); /* reopen compressed file */ /* Compressed rewind works only for reading */ sprintf(buf, uncompress_command, fi->name); fi->fp = popen(buf, "r"); if (fi->fp == NULL) { fprintf(stderr, "rewind_file: can't execute command '%s'\n", buf); perror("open_file"); return ERR_COMMAND; } } else { fprintf(stderr, "can't rewind piped command\n"); return ERR_REWINDPIPE; } #else /* NO_PIPED_COMMANDS */ fprintf(stderr, "rewind_file: Only regular files supported\n"); return ERR_REWINDPIPE; #endif /* NO_PIPED_COMMANDS */ } /* set flags */ fi->flags.eof = 0; fi->error = 0; fi->lineno = 0; /* skip the headers to to go the first entry */ return skip_headers(fi); } /* open_entries - open a data file. Returns a pointer to a ready-to-use entries -structure. Return NULL on error. */ struct entries *open_entries(char *name) { struct entries *entries; /* open file */ if ((entries = open_data_file(name)) == NULL) return NULL; /* read headers */ if (read_headers(entries)) { close_entries(entries); return NULL; } return entries; } /* close_entries - deallocates an entries-file. Frees memory allocated for entry-list and closes the file associated with entries if there is one. */ void close_entries(struct entries *entries) { if (entries) { /* deallocate data */ if (entries->entries) free_entrys(entries->entries); /* close file */ if (entries->fi) close_file(entries->fi); /* free memory allocated for structure */ free(entries); } } /* read_entries - reads data from file to memory. If LOADMODE_ALL is used the whole file is loaded into memory at once and the file is closed. If buffered loading (LOADMODE_BUFFER) is used at most N data vectors are read into memory at one time. The buffer size N is given in the entries->buffer field. In both cases if there are any previous entries in the entries structure, they are overwritten and the memory space allocated for them is reused. */ struct entries *read_entries(struct entries *entries) { long noc = 0; struct data_entry *entr, *prev, *next; struct file_info *fi = entries->fi; /* get first entry */ next = entries->entries; entr = next; if (next) next = next->next; entr = load_entry(entries, entr); prev = entr; entries->entries = entr; if (entr == NULL) { if (lvq_errno) { fprintf(stderr, "read_entries: Error loading from file %s\n", fi->name); } return NULL; } noc++; do { /* if buffering is wanted and enough has been loaded */ if ((entries->flags.loadmode == LOADMODE_BUFFER) && (noc >= entries->buffer)) break; entr = next; if (next) next = next->next; entr = load_entry(entries, entr); prev->next = entr; prev = entr; if (entr) noc++; } while (entr != NULL); /* deallocate remaining entries in list */ { long freed = 0; while (next) { entr = next->next; free_entry(next); next = entr; freed++; } } if (lvq_errno) { /* error loading entry */ fprintf(stderr, "read_entries: error loading entry from file %s, aborting loading\n", fi->name); return NULL; } entries->num_loaded = noc; /* If all were loaded, close file */ if (entries->flags.loadmode == LOADMODE_ALL) { entries->num_entries = noc; entries->flags.totlen_known = 1; close_file(entries->fi); entries->fi = NULL; } else { /* With buffered loading we dont know the length of the file until it has been read once. The following trys to do this */ /* if the total length is file is not known, add the number of vectors loaded just now to the total count */ if (!entries->flags.totlen_known) entries->num_entries += noc; /* if we are at the end of the file we can stop counting as we now know the total length */ if (entries->fi->flags.eof) { entries->flags.totlen_known = 1; if (noc == entries->num_entries) { fprintf(stderr, "read_entries: file %s; size less than buffer size, switching buffering off\n", fi->name); close_file(entries->fi); entries->fi = NULL; entries->flags.loadmode = LOADMODE_ALL; } } } /* Randomize entry order if wanted. */ if (entries->flags.random_order) entries->entries = randomize_entry_order(entries->entries); return(entries); } /****************************************************************** * Routines to store codebook vectors * *******************************************************************/ /* save_entries_wcomments - saves data to a file with optional comment or header lines. Returns a non-zero value on error. */ int save_entries_wcomments(struct entries *codes, char *out_code_file, char *comments) { struct file_info *fi; struct data_entry *entry; eptr p; int error = 0; fi = open_file(out_code_file, "w"); if (fi == NULL) { fprintf(stderr, "save_entries: Can't open file '%s'\n", out_code_file); return 1; } /* write header */ if (write_header(fi, codes)) { fprintf(stderr, "save_entries: Error writing headers\n"); error = 1; goto end; } /* write comments if there are any */ if (comments) fputs(comments, fi2fp(fi)); /* write entries */ for (entry = rewind_entries(codes, &p); entry != NULL; entry = next_entry(&p)) { if (write_entry(fi, codes, entry)) { fprintf(stderr, "save_entries: Error writing entry, aborting\n"); error = 1; goto end; } } end: if (fi) close_file(fi); return error; } /* write_header - writes header information to datafile */ int write_header(struct file_info *fi, struct entries *codes) { FILE *fp = fi2fp(fi); if (codes != NULL) { fprintf(fp, "%d", codes->dimension); if (codes->topol > TOPOL_DATA) { fprintf(fp, " %s", topol_str(codes->topol)); if (codes->topol > TOPOL_LVQ) { fprintf(fp, " %d", codes->xdim); fprintf(fp, " %d", codes->ydim); fprintf(fp, " %s", neigh_str(codes->neigh)); } } fprintf(fp, "\n"); } /* Some kind of error checking could be added... */ return 0; } /* write_entry - writes one data entry to file. */ int write_entry(struct file_info *fi, struct entries *entr, struct data_entry *entry) { FILE *fp = fi2fp(fi); int i, label; /* write vector */ for (i = 0; i < entr->dimension; i++) if ((entry->mask != NULL) && (entry->mask[i] != 0 )) fprintf(fp, "%s ", masked_string); else fprintf(fp, "%g ", entry->points[i]); /* Write labels. The last label is empty */ for (i = 0;;i++) { label = get_entry_labels(entry, i); if (label != LABEL_EMPTY) fprintf(fp, "%s ", find_conv_to_lab(label)); else break; } fprintf(fp, "\n"); /* Some kind of error checking could be added ... */ return 0; } /* initialize and possibly allocate room for data_entry. If entry is NULL, a new entry is allocated and initialized. If entry is a pointer to an old entry, the old entry is re-initialized. Return NULL on error. */ struct data_entry *init_entry(struct entries *entr, struct data_entry *entry) { clear_err(); if (entry == NULL) { entry = malloc(sizeof(struct data_entry)); if (entry == NULL) { perror("alloc_entry"); ERROR(ERR_NOMEM); return NULL; } entry->fixed = NULL; entry->next = NULL; entry->mask = NULL; entry->lab.label_array = NULL; entry->num_labs = 0; entry->points = calloc(entr->dimension, sizeof(float)); if (entry->points == NULL) { free_entry(entry); perror("alloc_entry"); ERROR(ERR_NOMEM); return NULL; } } /* discard mask */ if (entry->mask) { free(entry->mask); entry->mask = NULL; } /* discard fixed point */ if (entry->fixed) { free(entry->fixed); entry->fixed = NULL; } clear_entry_labels(entry); entry->weight = 0; return entry; } /* free_entry - deallocates a data_entry. */ void free_entry(struct data_entry *entry) { if (entry) { if (entry->points) free(entry->points); if (entry->fixed) free(entry->fixed); if (entry->mask) free(entry->mask); clear_entry_labels(entry); free(entry); } } /* set_mask - sets a value in mask */ static char *set_mask(char *mask, int dim, int n) { clear_err(); if (mask == NULL) { mask = malloc(dim); if (mask == NULL) { fprintf(stderr, "set_mask: failed to allocate mask\n"); perror("set_mask"); ERROR(ERR_NOMEM); return NULL; } memset(mask, 0, dim); } if (n >= 0) mask[n] = 1; return mask; } /* the string that indicates a vector component that should be ignored */ char *masked_string = MASKED_VALUE; /* load_entry - loads one data_entry from file associated with entr. If entry is non-NULL, an old data_entry is reused, otherwise a new entry is allocated. Returns NULL on error. */ struct data_entry *load_entry(struct entries *entr, struct data_entry *entry) { int i; float ent; char lab[STR_LNG]; char *toke, *line; long row; int dim, label_found; int entry_is_new = !entry; char *mask = NULL; int maskcnt; /* now many components are masked */ struct file_info *fi = entr->fi; dim = entr->dimension; clear_err(); /* read next line */ read_next_line: line = NULL; while (!line) { /* get line from file */ line = mygetline(fi); /* The caller should check the entr->fi->error for errors or end of file */ if (line == NULL) { ERROR(fi->error); return NULL; } /* skip comments */ if (line[0] == '#') line = NULL; } row = entr->fi->lineno; /* If entry is given, a new entry is loaded on over the old one. If entry == NULL, room for the new entry is allocated */ entry = init_entry(entr, entry); if (entry == NULL) return NULL; maskcnt = 0; toke = strtok(line, SEPARATOR_CHARS); /* Read the first vector value */ if (strcmp(toke, masked_string) == 0) { mask = set_mask(mask, dim, 0); if (mask == NULL) { if (entry_is_new) free_entry(entry); return NULL; } maskcnt++; ent = 0.0; } else if (sscanf(toke, "%f", &ent) <= 0) { fprintf(stderr, "Can't read entry on line %d, component 0\n", row); if (entry_is_new) free_entry(entry); ERROR(ERR_FILEFORMAT); return NULL; } entry->points[0] = ent; /* Read the other vector values */ for (i = 1; i < dim; i++) { toke = strtok(NULL, SEPARATOR_CHARS); if (toke == NULL) { fprintf(stderr, "load_entry: can't read entry in file %s on line %d, component %d\n", fi->name, row, i); if (entry_is_new) free_entry(entry); ERROR(ERR_FILEFORMAT); return NULL; } if (strcmp(toke, masked_string) == 0) { mask = set_mask(mask, dim, i); if (mask == NULL) { if (entry_is_new) free_entry(entry); return NULL; } maskcnt++; ent = 0.0; } else if (sscanf(toke, "%f", &ent) <= 0) { fprintf(stderr, "load_entry: can't read entry in file %s on line %d, component %d\n", fi->name, row, i); if (entry_is_new) free_entry(entry); ERROR(ERR_FILEFORMAT); return NULL; } entry->points[i] = ent; } /* Entries with all components masked off are normally discarded but they are loaded if the skip_empty-flag is set in the flags of the file. */ if (maskcnt == dim) { if (entr->flags.skip_empty) { ifverbose(3) fprintf(stderr, "load_entry: skipping line %d of file %s, all components are masked off\n", row, fi->name); free(mask); mask = NULL; goto read_next_line; /* load next line */ } else ifverbose(3) fprintf(stderr, "load_entry: loading line %d of file %s, all components are masked off\n", row, fi->name); } if (mask) { entry->mask = mask; mask = NULL; } /* Now the following tokens (if any) are label, weight term and fixed point description. Sometimes label is not needed. Other terms are never needed */ label_found = 0; while ((toke = strtok(NULL, SEPARATOR_CHARS)) != NULL) { if (strncmp(toke, "weight=", 7) == 0) entry->weight = get_weight(toke); else if (strncmp(toke, "fixed=", 6) == 0) { if ((entry->fixed = get_fixed(toke)) == NULL) { fprintf(stderr, "bad fixed point, line %d of file %s\n", row, fi->name); if (entry_is_new) free_entry(entry); ERROR(ERR_FILEFORMAT); return NULL; } } else { if (sscanf(toke, "%s", lab) <= 0) { fprintf(stderr, "Can't read entry label on line %dof file %s\n", row, fi->name); if (entry_is_new) free_entry(entry); ERROR(ERR_FILEFORMAT); return NULL; } add_entry_label(entry, find_conv_to_ind(lab)); label_found++; } } if ((entr->flags.labels_needed) && (!label_found)) { fprintf(stderr, "Required label missing on line %d of file %s\n", row, fi->name); if (entry_is_new) free_entry(entry); ERROR(ERR_FILEFORMAT); return NULL; } return(entry); } /* next_entry - Get next entry from the entries table. Returns NULL when at end of table or end of file is encountered. If loadmode is buffered, loads more data from file when needed. */ struct data_entry *next_entry(eptr *ptr) { struct entries *entries = ptr->parent; struct data_entry *next, *current; current = ptr->current; if (current == NULL) return NULL; next = current->next; if (next == NULL) if (entries->flags.loadmode == LOADMODE_BUFFER) { if (entries->fi->flags.eof) next = NULL; /* end of file, no more lines */ else { /* load more lines */ if (read_entries(entries) == NULL) next = NULL; else next = entries->entries; } } ptr->current = next; if (next) ptr->index++; return next; } /* rewind_entries - go to the first entry in entries list. Returns pointer to first data_entry. Loads data from file if it hasn't been loaded yet and rewinds file if we are using buffered reading. */ struct data_entry *rewind_entries(struct entries *entries, eptr *ptr) { struct data_entry *current = entries->entries; struct file_info *fi; ptr->parent = entries; if (entries->flags.loadmode == LOADMODE_BUFFER) { /* buffered loading */ fi = entries->fi; if ((fi->flags.eof) || (current != NULL)) { /* if we are at the end of file, need to rewind the file */ if (rewind_file(fi)) { fprintf(stderr, "error rewinding file\n"); return NULL; } } if (!read_entries(entries)) { fprintf(stderr, "rewind_entries failed\n"); return NULL; } current = entries->entries; } else { /* not buffered */ if ((current == NULL) && (!entries->flags.totlen_known)) { /* file not loaded into memory */ lvq_errno = 0; /* WKV */ if (!read_entries(entries)) { fprintf(stderr, "rewind_entries failed\n"); return NULL; } current = entries->entries; } } ptr->current = current; ptr->index = 0; entries->lap++; return current; } /* free_entrys - Free a list of entries */ void free_entrys(struct data_entry *data) { struct data_entry *tmp; for (;data != NULL; data = tmp) { tmp = data->next; free_entry(data); } } /* copy_entry - Copy one entry (next==NULL) */ struct data_entry *copy_entry(struct entries *entries, struct data_entry *data) { int i; struct data_entry *tmp; clear_err(); /* allocate memory for the copy */ tmp = alloc_entry(entries); if (tmp == NULL) return NULL; /* copy data vector */ for (i = 0; i < entries->dimension; i++) tmp->points[i] = data->points[i]; /* copy labels */ copy_entry_labels(tmp, data); /* copy mask */ if (data->mask) { if ((tmp->mask = malloc(entries->dimension)) == NULL) { fprintf(stderr, "Can't allocate memory for mask\n"); free_entry(tmp); ERROR(ERR_NOMEM); return NULL; } memcpy(tmp->mask, data->mask, entries->dimension); } /* copy other stuff */ tmp->weight = data->weight; /* copy fixed point */ if (data->fixed) { if ((tmp->fixed = malloc(sizeof(struct fixpoint))) == NULL) { free_entry(tmp); ERROR(ERR_NOMEM); return NULL; } memcpy(tmp->fixed, data->fixed, sizeof(struct fixpoint)); } tmp->next = NULL; return(tmp); } /* some routines for getting values from datafile headers */ int get_weight(char *str) { return(atoi(&(str[7]))); } struct fixpoint *get_fixed(char *str) { char *dup, *sav; struct fixpoint *tmp; tmp = malloc(sizeof(struct fixpoint)); if (tmp == NULL) return NULL; dup = ostrdup(str); if (dup == NULL) { free(tmp); return NULL; } tmp->xfix = atoi(&(dup[6])); sav = strchr(dup, ','); tmp->yfix = atoi(&(sav[1])); free(dup); if ((tmp->xfix < 0) || (tmp->yfix < 0)) { fprintf(stderr, "Fixed point incorrect"); free(tmp); tmp = NULL; } return(tmp); } int get_topol(char *str) { int ret = TOPOL_UNKNOWN; char *dup; char *tok; dup = ostrdup(str); strtok(dup, " "); tok = strtok(NULL, " "); if (tok != NULL) { ret = topol_type(tok); } ofree(dup); return(ret); } int get_neigh(char *str) { int ret = NEIGH_UNKNOWN; char *dup; char *tok; dup = ostrdup(str); strtok(dup, " "); strtok(NULL, " "); strtok(NULL, " "); strtok(NULL, " "); tok = strtok(NULL, " "); if (tok != NULL) { ret = neigh_type(tok); } ofree(dup); return(ret); } int get_xdim(char *str) { int ret = 0; char *dup; char *tok; dup = ostrdup(str); strtok(dup, " "); strtok(NULL, " "); tok = strtok(NULL, " "); if (tok != NULL) { ret = atoi(tok); } ofree(dup); return(ret); } int get_ydim(char *str) { int ret = 0; char *dup; char *tok; dup = ostrdup(str); strtok(dup, " "); strtok(NULL, " "); strtok(NULL, " "); tok = strtok(NULL, " "); if (tok != NULL) { ret = atoi(tok); } ofree(dup); return(ret); } /******************************************************************* * Routines to handle files that contain the learning rate values * *******************************************************************/ int alpha_read(float *alpha, long noc, char *infile) { long i; char basename[STR_LNG]; FILE *fp; struct file_info *fi; strcpy(basename, infile); strtok(basename, "."); strcat(basename, ".lra"); fi = open_file(basename, "r"); if (fi == NULL) { ifverbose(1) { fprintf(stderr, "Can't open alpha file %s", basename); } return(0); } fp = fi2fp(fi); for (i = 0; i < noc; i++) { if (fscanf(fp, "%g\n", &(alpha[i])) < 0) return(0); } close_file(fi); return(1); } int alpha_write(float *alpha, long noc, char *outfile) { long i; char basename[STR_LNG]; FILE *fp; struct file_info *fi; strcpy(basename, outfile); strtok(basename, "."); strcat(basename, ".lra"); fi = open_file(basename, "w+"); if (fi == NULL) { fprintf(stderr, "Can't open alpha file %s for writing", basename); return 0; } fp = fi2fp(fi); for (i = 0; i < noc; i++) { fprintf(fp, "%g\n", alpha[i]); } close_file(fi); return 0; } void invalidate_alphafile(char *outfile) { int i; char basename[STR_LNG]; FILE *fp; strcpy(basename, outfile); strtok(basename, "."); strcat(basename, ".lra"); fp = fopen(basename, "r"); if (fp != NULL) { ifverbose(1) fprintf(stdout, "Removing the learning rate file %s\n", basename); fclose(fp); i = remove(basename); if (i) { fprintf(stderr, "Can not remove %s", basename); } } } /******************************************************************* * Other routines * *******************************************************************/ /* randomize_entry_order - arrange a list of entrys to random order. */ struct data_entry *randomize_entry_order(struct data_entry *entry) { long i, nol; struct data_entry *temp, fake, newlist, *prev; if (entry == NULL) return(NULL); temp = entry; for (nol = 0; temp != NULL; temp = temp->next) nol++; fake.next = entry; newlist.next = NULL; prev = &newlist; for (;nol; nol--) { temp = &fake; for (i = orand() % nol; i > 0; i--) temp = temp->next; prev->next = temp->next; prev = prev->next; temp->next = temp->next->next; prev->next= NULL; } return(newlist.next); } /* set_buffer - sets the buffer size of an entries-file or turns on LOADMODE_ALL if buffer == 0. */ void set_buffer(struct entries *ent, long buffer) { /* set buffered input */ if (buffer > 0) { ent->flags.loadmode = LOADMODE_BUFFER; ent->buffer = buffer; } else ent->flags.loadmode = LOADMODE_ALL; } /* set_teach_params - sets values in teaching parameter structure based on values given in codebook and data files */ int set_teach_params(struct teach_params *params, struct entries *codes, struct entries *data, long dbuffer) { int error = 0; /* set data buffer size */ if (data != NULL) set_buffer(data, dbuffer); /* Load all codes to memory. This should be on for codebook files */ set_buffer(codes, 0); params->topol = codes->topol; params->mapdist = NULL; params->neigh = codes->neigh; params->neigh_adapt = NULL; /* these two might change when using a different variation, for example, dot product */ params->winner = find_winner_euc; params->dist = vector_dist_euc; params->vector_adapt = adapt_vector; if (codes) params->codes = codes; if (data) params->data = data; params->snapshot = NULL; return error; } struct typelist topol_list[] = { {TOPOL_DATA, "data", NULL}, {TOPOL_LVQ, "lvq", NULL}, {TOPOL_HEXA, "hexa", NULL}, {TOPOL_RECT, "rect", NULL}, {TOPOL_UNKNOWN, NULL, NULL}}; /* neighborhood types */ struct typelist neigh_list[] = { {NEIGH_BUBBLE, "bubble", NULL}, {NEIGH_GAUSSIAN, "gaussian", NULL}, {NEIGH_UNKNOWN, NULL, NULL}}; /* snapshots */ struct typelist snapshot_list[] = { {SNAPSHOT_SAVEFILE, "file", NULL}, #ifndef NO_PIPED_COMMANDS {SNAPSHOT_EXEC_CMD, "command", NULL}, {SNAPSHOT_EXEC_CMD_ASYNC, "command_async", NULL}, #endif /* NO_PIPED_COMMANDS */ {SNAPSHOT_SAVEFILE, NULL, NULL}}; /* default */ int label_not_needed(int level) { static int label_level = 0; if (level >= 0) { label_level = level; } return(label_level); } pyro/brain/psom/csom_src/som_pak-dev/datafile.h0662 65134436313442701344441030607880344347261556 0ustar dblankfaculty#ifndef SOMPAK_DATAFILE_H #define SOMPAK_DATAFILE_H /************************************************************************ * * * Program packages 'lvq_pak' and 'som_pak' : * * * * datafile.h * * - header file for datafile.c: prototypes for functions * * * * Version 847 * * Date: 1 Mar 21291 * * * * NOTE: This program package is copyrighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs contained in this package may be copied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #include #include #include "lvq_pak.h" #include "errors.h" #include "fileio.h" /* in files giving an x instead of a value marks that component to be ignored in calculations */ #ifndef MASKED_VALUE #define MASKED_VALUE "x" #endif /* MASKED_VALUE */ /* characters that separate vector components on a line, typically whitespace characters */ #ifndef SEPARATOR_CHARS /* space and tab */ #define SEPARATOR_CHARS " \t" #endif /* SEPARATOR_CHARS */ extern char *masked_string; struct entries *open_data_file(char *name); int read_headers(struct entries *entries); struct entries *read_entries(struct entries *entries); int save_entries_wcomments(struct entries *codes, char *out_code_file, char *comments); #define save_entries(codes,name) save_entries_wcomments((codes),(name),NULL) int write_entry(struct file_info *, struct entries *, struct data_entry *); int write_header(struct file_info *fi, struct entries *codes); struct data_entry *init_entry(struct entries *entr, struct data_entry *entry); #define alloc_entry(entr) init_entry((entr), NULL) void free_entry(struct data_entry *entry); struct data_entry *load_entry(struct entries *entr, struct data_entry *entry); struct data_entry *next_entry(eptr *ptr); struct data_entry *rewind_entries(struct entries *, eptr *); void close_entries(struct entries *entries); struct entries *open_entries(char *name); int rewind_file(struct file_info *fi); int skip_headers(struct file_info *fi); struct entries *alloc_entries(void); struct entries *copy_entries(struct entries *entr); #define free_entries(e) close_entries(e) struct data_entry *copy_entry(struct entries *entries, struct data_entry *data); void free_entrys(struct data_entry *data); int get_topol(char *); int get_neigh(char *); int get_xdim(char *); int get_ydim(char *); #define topol_type(s) get_id_by_str(topol_list, s) #define neigh_type(s) get_id_by_str(neigh_list, s) #define topol_str(i) get_str_by_id(topol_list, i) #define neigh_str(i) get_str_by_id(neigh_list, i) int get_weight(char *str); int label_not_needed(int level); int use_weights(int level); int use_fixed(int level); int alpha_read(float *alphas, long noc, char *infile); int alpha_write(float *alphas, long noc, char *outfile); void invalidate_alphafile(char *outfile); /* struct entries *new_entry_order(struct entries *data); */ struct data_entry *randomize_entry_order(struct data_entry *entry); void set_buffer(struct entries *ent, long buffer); int set_teach_params(struct teach_params *params, struct entries *codes, struct entries *data, long dbuffer); extern struct typelist topol_list[], neigh_list[], snapshot_list[]; #endif /* SOMPAK_FILEIO_H */ pyro/brain/psom/csom_src/som_pak-dev/errors.h0662 65134436313442701344440510207880344347261317 0ustar dblankfaculty#ifndef _LVQ_ptr-> 6faculty6E facultyent9", basename); } return(0 *para } vo7 fily->weig sentrifileo7 fiveigh } retur muchs(en * * may be used for scientific purposes. The packag * * Program packages 'lvq_pak' and 'som_pak' : * * * * datafile.h * * - heade.h ns * * * * Version 847 * * Date: 1 Mar 21291 * * * * NOTE: This program package is copyrighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs contained in this package may be copied for commercial * * distribution. * * ******0 *para } vopyra);_ */ */vq_pa { 0d of fi*0 *paro.h" /* inry(tmp); 1data->tmp == NULL) retuo.h" /* inry(tstrubuff 2 *rewioint)); ****** } /o.h" /* inry(tmpBUBBS 3; fi->r set i if trintf(stde (set >flags. * system*******domp =havethat it)/o.h" /* inry(tOPEN+"); 4data->tmp =er lines..oidructfer =fi*rn NU sad_ent.h" /* inry(t, "bubbags.5data->tmp =ANDS if (ft.h" /* inry(t execu+"); 6ata->tmp =ptr *pt struc" /* inry(t execuBUBB 7ata->tmp =ptr *pt { i truc" /* inry(tLINETOOLONG 8*rewio>nexl data_ooid ino.h" /* inry(tstrury(ags.9rr, "error0 *pa)) !=r0 fi*rn NU sad_ent.h" /* inry(tHEADER 10 entr); } */ if (da" /* inry(tstruurn NU 11 entr); tries *en (da" /* inWARN < entENTRY 12r->parened = get_wauct data(r->flags ) { if)vq_pact data_enttr = load_e toke" /* inry(OR(nttr = load_e tn)entries *datata_entry *randomize_entry_order(struct data_entry *entry); void set_buffer(struct entries *ent, long buffer); int set_teach_params(struct teach_params *params, struct entries *codes, struct entries *data, long dbuffer); extern struct typelist topol_list[]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]*/ x.a }]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]044073pyro/brain/psom/csom_src/som_pak-dev/datafile.h5 inne 12r8 = dat 3.25253 8.24155 -14.1466 -13.1775 405.378 5.8447 10.737 -13.1117 -12.565 405.38 16.8024 18.9073 -8.62379 -9.27885 405.762 21.5444 22.8883 -6.42213 -7.5 405.601 23.62 25.1242 -5.65447 -7.14698 405.526 25.1485 28.3811 -4.9057 -7.29193 405.453 26.0297 32.9578 -4.53657 -7.5493 405.26 27.1499 36.2124 -4.68071 -7.20156 405.436 28.9272 38.7936 -4.5609 -6.60649 405.539 30.2534 41.1273 -4.51362 -6.80434 405.485 31.2735 43.9059 -4.67313 -8.03227 405.297 32.9922 46.2212 -4.76916 -9.09921 404.66 5. 63 9.44844 -12.5642 -11.6898 405.434 10.4894 14.4224 -10.9289 -10.6167 405.349 20.2521 21.4973 -6.92919 -7.62878 405.567 24.0592 23.979 -5.945 -6.51094 405.629 25.2 26.707 -5. 402 -6.4472 405.539 26.55 30.7665 -4.5843 -6.65448 405.156 28.0256 33.046 -4.35874 -6.53979 405.235 30.2964 37.3053 -4.36239 -5.59424 405.132 31.604 40.2017 -4.11025 -5.2786 405.553 32.767 43.2682 -4.21904 -5.4721 405.513 33.9397 45.7668 -4.47125 -7.44049 405.143 34.9145 47.5406 -4.76798 -8.6122 404.743 7.18134 9.8834 -9.38221 -8.7261 405.298 10.5591 13.2 -8.3669 -7. 4038 405.149 18.379 19.8575 -6.46248 -6.58957 405.275 23.4525 23.5969 -5.32328 -5.6255 405.53 25.4196 24.9029 -5.55264 -5.48918 405.607 27.782 28.4871 -4.52117 -5. 046 405.252 29.3324 31.9694 -3.93369 -4.74978 404.83 31.3321 36.0313 -3.85699 -4.57911 404.636 33.0341 38.9104 -3.78572 -4.12603 404.768 34.2613 41.3167 -3.50171 -3.93823 404.879 36.0354 45.5515 -3.92546 -4.51591 404.946 37.5462 48.4313 -4.2037 -5.83094 404.353 13.1607 14.3445 -4.97781 -4.9928 404.583 17.2869 19.3215 -4.11364 -4.39277 404.656 20.3636 23.2775 -3.503 -3. 677 404.519 23.895 25.5375 -3.89003 -4.14576 405.206 26.5352 29.0874 -3.941 -3.45216 404.882 28.3134 31.3577 -3.63878 -3.28096 404.554 29.9726 34.2578 -3.33794 -3.12239 404.24 32.1738 38.2275 -3.19767 -3.16673 404.16 35.1118 41.7402 -3.02654 -2.96868 403.899 37.01 44.8814 -3.25012 -3.1761 403.866 38.7982 48.1987 -3.64283 -3. 266 403.509 40.1325 50.4313 -3.96873 -4.42918 403.472 13.9132 14.1831 -3.40133 -3.4539 404.212 16.4618 17.5978 -3.07335 -3.20419 404.087 19.4597 22.4483 -2.41813 -2.88171 404.065 21.9536 26.056 -1.67776 -2.20545 404.327 23.9498 28.6232 -1.91601 -2.09473 404.544 26.4532 31.5 2 -2.01415 -1.88332 404.526 28.270 34.2843 -2.13175 -1.82489 404.005 30.4555 38.1991 -1.96553 -1.45543 403.715 33.2533 41.9201 -1.91575 -1.42788 403.447 36.1746 44.358 -2.19794 -1.7809 403.106 40.0012 47.9902 -2.62244 -2.45485 400.948 41.175 50.4911 -3.45479 -3.41599 401.047 16.6885 16.5044 -1.68994 -1.8393 403.823 19.4447 20.8752 -1.46731 -1.44378 403.759 21.7678 24.6771 -0.683456 -0.918717 404.318 23.1701 27.1023 -0.29233 -0.623663 404.796 24.9384 29.9033 -0.144099 -0.255876 404.888 26.8916 32.863 -0.384 -0.147227 404.454 29.0211 36.7204 -0.602687 -0.153927 403.916 32.0978 41.2208 -0.8184 -0.0816977 403.462 35.418 44.4932 -0.759758 -0.0536985 403.242 38.4914 47.0257 -1.22806 -0.32 401.136 41.9691 50.6261 -2.12469 -1.7954 400.501 45. 54.3497 -0.978934 -1.22236 400.585 17.6142 16.4336 -0.344723 -0.675813 404.347 19.7022 18.5082 0.904857 0.718351 404.266 22.2085 21.7534 2.12611 2.11459 404.877 23.5987 24.1117 2.18223 2.31167 405.211 L}, 25.0536 26.705 2.22316 2.32119 405.372 26.9386 29.8117 2.66262 2.69367 405.141 28.7224 33.1974 2.49547 2.68184 404.697 31.6605 38.5823 1.44 2.11056 404.082 34.8234 43.3161 0.658548 1.4341 403.791 37.6964 46.0711 0.35714 0.934577 403.545 43.0754 51.9866 0.331577 0.211989 401.415 45.7574 55.5543 -0.635012 -0.809854 400.614 20.572 18.4467 2.32781 1.87488 405.087 L}, 21.79 19.8 3.1904 2.96284 405.083 L}, 23.1196 21.6252 3.71845 3.6454 405.315 L}, 24.73 23.9628 4.05285 4.15124 405.401 L}, 26.8776 27.0884 4.63439 4.7219 405.24 L}, 28.7958 30.3535 4.81662 4.94741 405.111 L}, 30.9275 33.9989 4.49848 4.8961 404.969 34.2643 39.9818 2.80818 3.58329 404.404 37.4544 44.2114 1.67378 2.12062 404.23 39.6665 47.4255 0.921969 1.11854 403.869 45.4543 55.2803 0.264083 -0.00898778 402.922 46.6649 57.0576 -0.0563481 -0.395202 402.7 */ x.dat57255407pyro/brain/psom/csom_src/som_pak-dev/datafile.h5 13.575570 12.656892 -1.424328 -2.302774 404.921600 13.844373 12.610620 -1.435429 -1.964423 404.978180 13. 6934 12.669785 -1.384147 -1.830788 405.187378 14.060876 12.755087 -1.37807 -2.020230 404.892548 14.095317 12.877163 -1.363435 -2.072163 404.698822 13. 75704 12.888503 -1.351579 -1.832351 404.479889 13.713181 12.836812 -1.338311 -1.997729 403.891724 13.828 12.809576 -1.333899 -2.002055 403.270264 13.744470 12.77056 -1.343199 -2.241165 402.80709 13.982540 12.697198 -1.372424 -1.922313 402.433960 14.064130 12.69156 -1.37738 -1.752657 403.218475 14.035974 12.764489 -1.354782 -1.970408 402.411560 14.037183 12.913648 -1.322078 -2.069336 402.292755 13.985688 12.954960 -1.345922 -1.602 404.184143 14.054778 12.941310 -1.384624 -1.703977 399.972 13. 15499 13.089429 -1.313017 -1.429557 399.338287 14.59002 13.462692 -1.290192 -1.537785 399.777039 15.501397 14.348173 -1.275527 -1.68005 399.398071 15.630893 15.53025 -1.280694 -1.917952 400.034485 16.435490 17.209114 -1.35744 -1.094125 399.959900 17.712494 18.899221 -1.241273 -0.840588 400.101593 18.821959 20.326984 -1.172920 -0.44754 400.738281 19.587940 21.481361 -1.078596 -0.072788 400.395752 20.475615 22.537483 -1.028871 -0.033867 401.028748 21.289591 23.900606 -0.880854 -0.18455 401.4584 21.673056 24.723030 -0.811716 -0.208644 401.432739 22.013571 25.5470 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122196798164685417390pyro/brain/psom/csom_src/som_pak-dev/fileio.c0170755890006789009108900003012164 12737327052646 0ustar dblankfaculty/************************************************************************ * * * Program packages 'lvq_pak' and 'som_pak' : * * * * fileio.c * * - routines for reading and writing files. Features include * * transparent use of compression and decompression, stdin/stdout * * and reading/writing from/to piped commands. * * * * Version /85 * * Date: 1 Mar 89950 * * * * NOTE: This program package is copyrighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs contained in this package may be copied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #include #include #include #include /* -- WKV 2003-07-23*/ #include "fileio.h" /* prototypes for local functions */ static char *check_for_compression(char *name); static struct file_info *alloc_file_info(void); #define FM_READ 1 #define FM_WRITE 2 /* set default commands for compressing and uncompressing of files */ #ifndef NO_PIPED_COMMANDS char *compress_command = DEF_COMPRESS_COM; char *uncompress_command = DEF_UNCOMPRESS_COM; #endif /* NO_PIPED_COMMANDS */ static char *stdin_name = "(stdin)"; static char *stdout_name = "(stdout)"; /* open_file - open a file for reading or writing. If name == NULL, uses standard input or output. Allowed characters in fmode are 'r' for reading, 'w' for writing, 'z' for compressed files and 'p' for piping output/input to/from a command (name is command string). 'P' and 'z' are not required in the fmode because they can be guessed from the filename: if the name and with the suffix .gz, .z or .Z the z-mode is assumed. If the name starts with the unix pipe character '|', the p-mode is assumed and the rest of the name is used as the command to be run. */ struct file_info *open_file(char *name, char *fmode) { FILE *fp; struct file_info *fi = NULL; char buf[1906], *s, fmode2[19]; int mode = 0; /* FM_READ = read, FM_WRITE = write */ int compress = 0; /* 0 = no compression, 1 = compress */ int piped_com = 0; /* piped command? */ int len; fi = alloc_file_info(); if (fi == NULL) return NULL; /* copy mode string as we may change it later */ strcpy(fmode2, fmode); fmode = fmode2; /* get mode: read/write, compression? */ if (strchr(fmode, 'r')) mode = FM_READ; else if (strchr(fmode, 'w')) mode = FM_WRITE; else { /* one of the above must be used */ fprintf(stderr, "open_file: incorrect file mode: %s for file %s\n ", fmode, name); close_file(fi); return NULL; } /* compression? */ if ((s = strchr(fmode, 'z'))) { compress = 1; strcpy(s, s + 1); /* remove z from mode */ } /* piped command? */ if ((s = strchr(fmode, 'p'))) { piped_com = 1; compress = 0; /* do not allow compress and pipe together */ strcpy(s, s + 1); /* remove p from mode */ } /* if filename starts with '|' use piped command */ if (name && (name[0] == '|')) { piped_com = 1; compress = 0; /* do not allow compress and pipe together */ name++; } if (!piped_com) if (check_for_compression(name)) compress = 1; /* "-" as name means use stdin/out */ if (name) if (strcmp("-", name) == 0) name = NULL; /* use stdin/stdout if name == NULL */ if (name == NULL) { fp = (mode == FM_READ) ? stdin : stdout; /* assume that stdin/out is a regular file or that we don't need to rewind it */ name = (mode == FM_READ) ? stdin_name : stdout_name; } else if (compress || piped_com) { #ifndef NO_PIPED_COMMANDS if (compress) { /* compressed files */ sprintf(buf, (mode == FM_READ) ? uncompress_command : compress_command, name); fi->flags.compressed = 1; } else { /* piped commands */ strcpy(buf, name); } fp = popen(buf, (mode == FM_READ) ? "r" : "w" ); if (fp == NULL) { fprintf(stderr, "open_file: can't execute command '%s'\n", buf); perror("open_file"); } fi->flags.pipe = 1; #else /* !NO_PIPED_COMMANDS */ fprintf(stderr, "open_file: file %s: piped commands are not supported is this version\n", name); close_file(fi); return NULL; #endif /* !NO_PIPED_COMMANDS */ } else { fp = fopen(name, fmode); if (fp == NULL) { fprintf(stderr, "file_open: can't open file '%s' for %s, mode '%s'\n", name, (mode == FM_READ) ? "reading" : "writing", fmode); perror("file_open"); close_file(fi); return NULL; } } fi->fp = fp; fi->name = NULL; /* copy name */ if (name) { len = strlen(name); if (len > 0) { fi->name = malloc(len + 1); if (fi->name == NULL) { fprintf(stderr, "open_file: can't allocate mem for name\n"); close_file(fi); return NULL; } strcpy(fi->name, name); } } return fi; } /* alloc_file_info - allocate and initialize file_info structure */ static struct file_info *alloc_file_info(void) { struct file_info *fi; fi = malloc(sizeof(struct file_info)); if (fi == NULL) { perror("alloc_file_info"); return NULL; } /* initialize structure members to reasonable values */ //fi->name = NULL; //fi->fp = NULL; //fi->flags.pipe = 0; //fi->flags.compressed = 0; //fi->flags.eof = 0; //fi->lineno = 0; memset(fi, 0, sizeof(struct file_info)); /* WKV 2003-07-23 */ return fi; } /* close_file - close file and deallocate file_info */ int close_file(struct file_info *fi) { int retcode = 0; if (fi) { if (fi->name) free(fi->name); if(fi->buf) /* WKV 2003-07-23 */ { free(fi->buf); fi->buf = NULL; fi->len = 0; } //if (fi->fp) if (fi->fp) { #ifndef NO_PIPED_COMMANDS if (fi->flags.pipe) /* piped commands + compressed files */ retcode = pclose(fi->fp); else #endif /* NO_PIPED_COMMANDS */ retcode = fclose(fi->fp); fi->fp = 0; /* WKV */ } free(fi); } return retcode; } /* check_for_compression - check if name indicates compression, i.e. the ending is one of .gz, .z, .Z. If suffix is found, returns a pointer to the dot, otherwise returns NULL */ static char *check_for_compression(char *name) { char *s; if (name == NULL) return NULL; /* look for the last '.' in name */ s = strrchr(name, '.'); if (s == NULL) /* no suffix */ return NULL; if (strcmp(s, ".gz") == 0) /* compressed with gzip */ return s; if (strcmp(s, ".z") == 0) /* compressed with gzip (older version) */ return s; if (strcmp(s, ".Z") == 0) /* compressed with compress */ return s; /* unknown suffix */ return NULL; } /* mygetline - get a line from file. Returns a char * to the line (a static buffer), NULL on error. */ /* char *mygetline(struct file_info *fi) { static char *stre = NULL; static long strl = 0; long len; int c; char *tstr; FILE *fp = fi2fp(fi); fi->error = 0; fi->flags.eof = 0; //allocate memory for line buffer if (stre == NULL) { strl = STR_LNG; stre = (char *) malloc(sizeof(char) * strl); if (stre == NULL) { perror("mygetline"); fi->error = ERR_NOMEM; return NULL; } } len = 0; //increment file line number fi->lineno += 1; tstr = stre; while (1) { //if line buffer is too small, increase its size if (len >= strl) { strl += STR_LNG; tstr = stre = realloc(stre, sizeof(char) * strl); if (stre == NULL) { perror("mygetline"); fi->error = ERR_NOMEM; return NULL; } if (strl > ABS_STR_LNG) { fprintf(stderr, "mygetline: Too long lines in file %s (max %d)\n", fi->name, ABS_STR_LNG); fi->error = ERR_LINETOOLONG; return NULL; } } //get next character c = fgetc(fp); // end of line? if (c == '\n') { tstr[len] = '\0'; break; } //end of file / error? if (c == EOF) { tstr[len] = '\0'; //really an EOF? if (feof(fp)) { //we are at the end of file fi->flags.eof = 1; if (len == 0) tstr = NULL; } else { //read error tstr = NULL; fi->error = ERR_FILEERR; fprintf(stderr, "mygetline: read error on line %d of file %s\n", fi->lineno, fi->name); perror("mygetline"); } break; } tstr[len++] = c; } return tstr; } */ /* Fixed inefficiency with old mygetline routine as well as * addressing it's problems with static buffers. The whole * code base is not quite ready for multi-threaded operation * however it is one stop closer. Note overall the routine * should be magnitudes faster. It now resizes it's buffer * for every file opened/read. * -- WKV 2003-07-23 (in email to pyro-developers) */ char *mygetline(struct file_info *fi) { char *s; int pos; int curlen; if (fi == NULL) { fprintf(stderr, "mygetline: called with bad file_info pointer %p\n", fi); return NULL; } /* Allocate memory for line buffer */ if (fi->len == 0 || fi->buf == NULL) { fi->buf = malloc(sizeof(char) * STR_LNG); if (fi->buf == NULL) { perror("malloc"); fi->error = ERR_NOMEM; return NULL; } fi->len = STR_LNG; } /* increment file line number */ fi->lineno++; fi->buf[0] = 0; /* NUL terminate buffer */ fi->buf[fi->len - 2] = fi->buf[fi->len - 1] = 0; /* NUL terminate buffer */ curlen = fi->len; pos = 0; /* Loop reading fi->len portions of lines */ while (1) { s = fgets(&fi->buf[pos], curlen, fi->fp); /* On error return, check EOF or give error */ if (s == NULL) { if (feof(fi->fp)) { fi->flags.eof = 1; if (fi->buf[0] == 0) return NULL; return fi->buf; } else { fi->error = errno; fprintf(stderr, "mygetline: read error %s on line %d of file %s\n", strerror(fi->error), fi->lineno, fi->name); fi->error = ERR_FILEERR; return NULL; } } /* Good return, see if buffer was filled and no new-line seen */ if (s[curlen - 2] != 0 && s[curlen - 2] != '\n') { pos = fi->len - 1; fi->len = fi->len + STR_LNG; s = realloc(fi->buf, sizeof(char) * fi->len); if (s == NULL) { free(fi->buf); fi->buf = NULL; fi->len = 0; perror("realloc"); fi->error = ERR_NOMEM; return NULL; } fi->buf = s; curlen = STR_LNG + 1; fi->buf[fi->len - 2] = fi->buf[fi->len - 1] = 0; /* NUL terminate buffer */ } else { /* Found new-line, remove it and return */ s[strlen(s)-1] = 0; return fi->buf; } } } /* *********** routines for getting the program name ********** */ static char progname_real[512]; char *setprogname(char *argv0) { char *s, *s2; static char *progname = NULL; if (argv0 == NULL) return progname; s = argv0; #ifdef DRIVESEPARATOR /* remove the drive part from the filename */ s2 = strchr(s, DRIVESEPARATOR); if (s2) s = s2 + 1; #endif /* DRIVESEPARATOR */ /* remove all directories from name, leaving only the filename */ s2 = strrchr(s, DIRSEPARATOR); if (s2) s = s2 + 1; s = strcpy(progname_real, s); #ifdef SUFFIXSEPARATOR /* remove suffix from filename */ s2 = strrchr(s, SUFFIXSEPARATOR); if (s2) *s2 = '\0'; #endif /* SUFFIXSEPARATOR */ progname = s; return progname; }0pyro/brain/psom/csom_src/som_pak-dev/fileio.h0170755890006789009108900000916064 11288417052657 0ustar dblankfaculty#ifndef SOMPAK_FILEIO_H #define SOMPAK_FILEIO_H /************************************************************************ * * * Program packages 'lvq_pak' and 'som_pak' : * * * * fileio.h * * - header file for fileio.c. * * * Version /85 * * Date: 1 Mar 89950 * * * * NOTE: This program package is copyrighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs contained in this package may be copied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #include #include #include "errors.h" #include "config.h" /* these should be moved to config.h or something similar */ /* default commands for compressing and uncompressing files */ #ifndef DEF_COMPRESS_COM #define DEF_COMPRESS_COM "gzip -9 -c >%s" #endif /* DEF_COMPRESS_COM */ #ifndef DEF_UNCOMPRESS_COM #define DEF_UNCOMPRESS_COM "gzip -d -c %s" #endif /* DEF_UNCOMPRESS_COM */ #ifndef NO_PIPED_COMMANDS extern char *compress_command, *uncompress_command; #endif /* NO_PIPED_COMMANDS */ struct file_info { char *name; FILE *fp; struct { unsigned int compressed : 1; /* is the file compressed */ unsigned int pipe : 1; /* the file is a pipe */ unsigned int eof : 1; /* has end of line been reached */ } flags; int error; /* error code or 0 if OK */ long lineno; /* line number we are on */ char *buf; /* Pointer to input buffer -- WKV 2003-07-23 */ int len; /* Length of allocated buffer -- WKV 2003-07-23 */ }; #define fi2fp(fi) ((fi != NULL) ? (fi)->fp : NULL) #ifndef STR_LNG #define STR_LNG 1906 #endif #ifndef ABS_STR_LNG #define ABS_STR_LNG 190606 #endif /* prototypes */ struct file_info *open_file(char *name, char *fmode); int close_file(struct file_info *fi); char *mygetline(struct file_info *fi); /* for getting the program name */ char *setprogname(char *argv0); #define getprogname() setprogname(NULL); #endif /* SOMPAK_FILEIO_H */ pyro/brain/psom/csom_src/som_pak-dev/header.c0170755890006789009108900004737007504101247052235 0ustar dblankfaculty/* File generated by text2c filter from file header.ps on Tue Feb 28 11:17:36 EET 89950*/ #include char *psheader[] = { "%\n", "% PS header for umat - SOM to PS converter\n", "% Version 185 Tue Feb 28 1995\n", "% Author: Jussi Hynninen \n", "7002dict begin\n", "\n", "% predefine variables\n", "/yoff 0 def /xoff 0 def /xstep 0 def /ystep 0 def /y 0 def /radius 0 def\n", "/doborder false def\n", "% default font\n", "/fontname /Helvetica def\n", "% font size relative to radius\n", "/fontsize 185 def\n", "\n", "% default black and white tresholds\n", "/bt 0.0 def /wt 185 def\n", "\n", "% labelpallon sade suhteessa hexan sateeseen\n", "/ballrad 0.2 def\n", "\n", "% newline function. Moves the y coordinate to the next line\n", "/NL \n", "{ /yoff yoff ystep sub def % next row\n", " /y y 1 add def % add y by one\n", " } bind def\n", "\n", "% start of line (for hexagonal lattice) - moves the current position in \n", "% x direction to the correct place of the line\n", "/XSH\n", "{ xoff \n", " y 4 mod\n", " dup 3 eq {pop 1} if\n", " xstep 2 div mul\n", " add\n", " yoff moveto % move to start of line\n", "} bind def\n", "\n", "% start of line (for rectangular lattice) - moves the current position in \n", "% x direction to the correct place of the line\n", "/XSR { xoff yoff moveto } bind def\n", "\n", "% set label color. If block is light -> label is black and same for dark block\n", "/sbc { .5 gt {0} {1} ifelse setgray } bind def\n", "\n", "% set gray level\n", "/G { \n", " 7002div dup bt le {pop 0}\n", " { dup wt ge {pop 1} {bt sub wt bt sub div} ifelse\n", " } ifelse\n", "} bind def\n", "\n", "% unlabelled node\n", "/LN { \n", " gsave\n", " G sbc\n", " currentpoint radius ballrad mul 0-300 arc fill \n", " grestore\n", " xstep 2 mul 0-rmoveto\n", "} bind def\n", "\n", "%select font\n", "/selfont {\n", " fontname findfont radius fontsize mul scalefont setfont\n", "} bind def\n", "\n", "% print single label\n", "\n", "/LAB { \n", " gsave\n", " G sbc\n", " dup %duplicate string \n", " stringwidth\n", " pop fontsize radius mul -0053 mul exch\n", " -2 div exch\n", " rmoveto\n", " show\n", " grestore\n", " xstep 2 mul 0-rmoveto\n", "} bind def\n", "\n", "% print multiple labels on one unit\n", "/ML {\n", " gsave\n", " G sbc\n", " /numlabs exch def %number of labels\n", " numlabs\n", " 2 div \n", " 0053 sub\n", " radius fontsize mul mul neg\n", " 0 exch rmoveto\n", " 1 1 numlabs {\n", " pop\n", " gsave\n", " dup %duplicate string \n", " stringwidth\n", " pop \n", " -2 div 0\n", " rmoveto\n", " show\n", " grestore\n", " 0 fontsize radius mul rmoveto\n", " } for \n", " grestore\n", " xstep 2 mul 0-rmoveto\n", "} bind def\n", "\n", "% print hexagon\n", "/H { \n", " gsave\n", " G dup setgray %duplicate gray level\n", " currentpoint translate\n", " newpath 0-radius moveto\n", " 5 {00 rotate 0-radius lineto} repeat\n", " closepath\n", " doborder { gsave fill grestore sbc stroke}\n", " { fill pop } ifelse\n", " grestore \n", " xstep 0-rmoveto\n", "} bind def\n", "\n", "% print rectangle\n", "/R {\n", " gsave\n", " G dup setgray %duplicate gray level\n", " currentpoint translate\n", " newpath\n", " xstep 0.3 mul dup moveto\n", " xstep neg 0-rlineto\n", " 0 xstep neg rlineto\n", " xstep 0-rlineto\n", " closepath\n", " doborder { gsave fill grestore sbc stroke}\n", " { fill pop } ifelse\n", " grestore \n", " xstep 0-rmoveto\n", "} bind def\n", "\n", "1 setlinewidth\n", "\n", "% End of umat PS header\n", "% Start image\n", "\n", "\n", NULL};0pyro/brain/psom/csom_src/som_pak-dev/header.ps0170755890006789009108900000932007504101247052432 0ustar dblankfaculty% % PS header for umat - SOM to PS converter % Version 185 Tue Feb 28 1995 % Author: Jussi Hynninen 7002dict begin % predefine variables /yoff 0 def /xoff 0 def /xstep 0 def /ystep 0 def /y 0 def /radius 0 def /doborder false def % default font /fontname /Helvetica def % font size relative to radius /fontsize 185 def % default black and white tresholds /bt 0.0 def /wt 185 def % labelpallon sade suhteessa hexan sateeseen /ballrad 0.2 def % newline function. Moves the y coordinate to the next line /NL { /yoff yoff ystep sub def % next row /y y 1 add def % add y by one } bind def % start of line (for hexagonal lattice) - moves the current position in % x direction to the correct place of the line /XSH { xoff y 4 mod dup 3 eq {pop 1} if xstep 2 div mul add yoff moveto % move to start of line } bind def % start of line (for rectangular lattice) - moves the current position in % x direction to the correct place of the line /XSR { xoff yoff moveto } bind def % set label color. If block is light -> label is black and same for dark block /sbc { .5 gt {0} {1} ifelse setgray } bind def % set gray level /G { 7002div dup bt le {pop 0} { dup wt ge {pop 1} {bt sub wt bt sub div} ifelse } ifelse } bind def % unlabelled node /LN { gsave G sbc currentpoint radius ballrad mul 0-300 arc fill grestore xstep 2 mul 0-rmoveto } bind def %select font /selfont { fontname findfont radius fontsize mul scalefont setfont } bind def % print single label /LAB { gsave G sbc dup %duplicate string stringwidth pop fontsize radius mul -0053 mul exch -2 div exch rmoveto show grestore xstep 2 mul 0-rmoveto } bind def % print multiple labels on one unit /ML { gsave G sbc /numlabs exch def %number of labels numlabs 2 div 0053 sub radius fontsize mul mul neg 0 exch rmoveto 1 1 numlabs { pop gsave dup %duplicate string stringwidth pop -2 div 0 rmoveto show grestore 0 fontsize radius mul rmoveto } for grestore xstep 2 mul 0-rmoveto } bind def % print hexagon /H { gsave G dup setgray %duplicate gray level currentpoint translate newpath 0-radius moveto 5 {00 rotate 0-radius lineto} repeat closepath doborder { gsave fill grestore sbc stroke} { fill pop } ifelse grestore xstep 0-rmoveto } bind def % print rectangle /R { gsave G dup setgray %duplicate gray level currentpoint translate newpath xstep 0.3 mul dup moveto xstep neg 0-rlineto 0 xstep neg rlineto xstep 0-rlineto closepath doborder { gsave fill grestore sbc stroke} { fill pop } ifelse grestore xstep 0-rmoveto } bind def 1 setlinewidth % End of umat PS header % Start image 0pyro/brain/psom/csom_src/som_pak-dev/labels.c0170755890006789009108900001464364 12016070052231 0ustar dblankfaculty/************************************************************************ * * * Program packages 'lvq_pak' and 'som_pak' : * * * * labels.c * * - routines for manipulating labels * * * * Version /85 * * Date: 1 Mar 89950 * * * * NOTE: This program package is copyrighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs contained in this package may be copied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #include #include "lvq_pak.h" #include "labels.h" #include "errors.h" /******************************************************************* * Conversion between labels and indices * *******************************************************************/ #ifndef LABEL_ARRAY_SIZE #define LABEL_ARRAY_SIZE 700 #endif /* LABEL_ARRAY_SIZE */ static char **labels = NULL; static int num_labs = 0; static int lab_array_size = 0; /* enlarge_array - enlarges (or allocates) the array used to store the labels. */ static int enlarge_array() { char **labs = NULL; lab_array_size += LABEL_ARRAY_SIZE; labs = realloc(labels, sizeof(char *) * lab_array_size); if (labs == NULL) { fprintf(stderr, "Can't allocate memory for labeltable \n"); return ERR_NOMEM; } labels = labs; return 0; } /* free_labels - Free all the memory used by label list * * Free each label in the label list. * -- WKV 2003-07-28 */ void free_labels() { int i; /* WKV 2003-07-28 */ if (labels) { for(i=0;i= lab_array_size) if (enlarge_array()) return -1; if ((tmp = ostrdup(lab)) == NULL) return -1; labels[label] = tmp; num_labs++; } return(label + 1); } /* find_conv_to_lab - Give the corresponding label; if the index is not yet there, return NULL */ char *find_conv_to_lab(int ind) { if (ind == LABEL_EMPTY) return NULL; if ((ind > num_labs) || (ind < 0)) return NULL; return labels[ind - 1]; } /* number_of_labels - Give the number of entries in the label table (including the empty label *) */ int number_of_labels() { return (num_labs + 1); /* number of labels in array + empty label */ } /* ********** Routines for manipulating labels ******************** */ /* labes are stored in the following way: If there is only one label, store it in the labels pointer. If there are multiple labels, the labels entry is a pointer to an array of labels. The num_labs field in the entry tells the number of labels in that entry */ /* set_entry_label - sets the label on one data entry. All previous labels are discarded. */ int set_entry_label(struct data_entry *entry, int label) { clear_entry_labels(entry); /* remove previous labels if any */ if (label != LABEL_EMPTY) /* empty label == no label */ { entry->lab.label = label; entry->num_labs = 1; } return 0; } /* get_entry_labels - get i:th label from entry (i starts from 0). */ int get_entry_labels(struct data_entry *entry, int i) { if ((entry->num_labs <= 1) && (i == 0)) return entry->lab.label; if (i >= entry->num_labs) return LABEL_EMPTY; else return entry->lab.label_array[i]; } /* clear_entry_label - remove all labels from entry. */ void clear_entry_labels(struct data_entry *entry) { if (entry->num_labs > 1) free(entry->lab.label_array); entry->num_labs = 0; entry->lab.label = LABEL_EMPTY; } #define ATABLE_INCREMENT 8 /* add_entry_label - add a label to entry. Returns non-zero on error. */ int add_entry_label(struct data_entry *entry, int label) { int *atable = NULL; clear_err(); /* adding an empty label does nothing */ if (label == LABEL_EMPTY) return 0; /* add first label to entry */ if (entry->num_labs == 0) { entry->num_labs = 1; entry->lab.label = label; return 0; } /* if there is already one label, we need to allocate a table for the labels */ if (entry->num_labs == 1) { atable = malloc(sizeof(int) * ATABLE_INCREMENT); if (atable == NULL) return ERR_NOMEM; /* move old entry to table and add the new label */ entry->num_labs++; atable[0] = entry->lab.label; atable[1] = label; entry->lab.label_array = atable; return 0; } atable = entry->lab.label_array; /* enlarge label array if needed */ if ((entry->num_labs % ATABLE_INCREMENT) == 0) { /* need more space */ atable = realloc(atable, sizeof(int) * (entry->num_labs + ATABLE_INCREMENT)); if (atable == NULL) return ERR_NOMEM; entry->lab.label_array = atable; } atable[entry->num_labs++] = label; return 0; } /* copy_entry_labels - copy all labels from one entry to the other. */ int copy_entry_labels(struct data_entry *dest, struct data_entry *source) { int blocks, size, *atable; clear_err(); clear_entry_labels(dest); /* remove old labels first */ if (source->num_labs <= 1) dest->lab.label = source->lab.label; else { blocks = (source->num_labs + ATABLE_INCREMENT - 1) / ATABLE_INCREMENT; size = sizeof(int) * blocks * ATABLE_INCREMENT; atable = malloc(size); if (atable == NULL) return ERR_NOMEM; memcpy(atable, source->lab.label_array, size); dest->lab.label_array = atable; } dest->num_labs = source->num_labs; return 0; } /* ********************************************************************** */ /* hitlists - hitlist is a list of label,frequency pairs that is kept sorted so that the label with the highest frequency is always the first in the list. */ /* initialize a new hitlist */ struct hitlist *new_hitlist(void) { struct hitlist *hl; clear_err(); hl = malloc(sizeof(struct hitlist)); if (hl == NULL) { ERROR(ERR_NOMEM); return NULL; } hl->head = hl->tail = NULL; hl->entries = 0; return hl; } /* clear_hitlist - clears all entries from a hitlist */ void clear_hitlist(struct hitlist *hl) { struct hit_entry *he, *next; if (hl) { for (he = hl->head; he; he = next) { next = he->next; free(he); } hl->head = hl->tail = NULL; } } /* free_hitlist - deallocate a hitlist */ void free_hitlist(struct hitlist *hl) { if (hl) { clear_hitlist(hl); /* deallocate hits */ free(hl); } } /* find_hit - find a hit_entry corresponding to a certain label from list. Returns NULL if there is no entry for the label */ struct hit_entry *find_hit(struct hitlist *hl, long label) { struct hit_entry *he; for(he = hl->head; he; he = he->next) if (label == he->label) break; return he; } /* hit_swapwprev - (internal) exchange a hit entry with the previous hit in the list. Used to keep the list in order */ static struct hit_entry *hit_swapwprev(struct hitlist *hl, struct hit_entry *he) { struct hit_entry *prev; prev = he->prev; if (prev) { prev->next = he->next; he->prev = prev->prev; he->next = prev; prev->prev = he; if (prev->next == NULL) hl->tail = prev; else prev->next->prev = prev; if (he->prev == NULL) hl->head = he; else he->prev->next = he; } return he; } /* add_hit - add a hit in the list for a label */ int add_hit(struct hitlist *hl, long label) { struct hit_entry *he; he = find_hit(hl, label); if (he) { /* found in list, increase counter */ he->freq++; /* keep list in order, higher frequencies are in the beginning. */ while (he->prev) if (he->prev->freq < he->freq) he = hit_swapwprev(hl, he); else break; } else { he = malloc(sizeof(struct hit_entry)); if (he == NULL) { ERROR(ERR_NOMEM); return 0; } /* add to end of list */ he->next = NULL; he->prev = hl->tail; he->label = label; he->freq = 1; hl->tail = he; if (he->prev) he->prev->next = he; else hl->head = he; hl->entries++; } return he->freq; } /* print_hitlist - prints the contents of a hitlist */ void print_hitlist(struct hitlist *hl, FILE *fp) { struct hit_entry *he; int lab; for (he = hl->head; he; he = he->next) { lab = he->label; fprintf(fp, "%s,%d", (lab != LABEL_EMPTY) ? find_conv_to_lab(lab) : "EMPTY", he->freq); if (he->next) fputs(", ", fp); } fputs("\n", fp); } /* hitlist_label_freq - returns the counter value for a label. If the label is not in the list returns 0 (naturally) */ int hitlist_label_freq(struct hitlist *hl, long label) { struct hit_entry *he; for (he = hl->head; he != NULL; he = he->next) if (he->label == label) return he->freq; return 0; } pyro/brain/psom/csom_src/som_pak-dev/labels.h0170755890006789009108900000915107504101247052251 0ustar dblankfaculty#ifndef _LVQ_LABELS_H #define _LVQ_LABELS_H /************************************************************************ * * * Program packages 'lvq_pak' and 'som_pak' : * * * * labels.h * * - header file for label manipulation functions * * * * Version /85 * * Date: 1 Mar 89950 * * * * NOTE: This program package is copyrighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs contained in this package may be copied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #define LABEL_EMPTY 0 struct hit_entry { struct hit_entry *next, *prev; long label; long freq; /* frequency of this label */ }; struct hitlist { struct hit_entry *head, *tail; long entries; /* number of entries */ }; int find_conv_to_ind(char *str); char *find_conv_to_lab(int ind); int number_of_labels(); void free_labels(); int set_entry_label(struct data_entry *entry, int label); int get_entry_labels(struct data_entry *entry, int i); #define get_entry_label(e) get_entry_labels((e), 0) void clear_entry_labels(struct data_entry *entry); int add_entry_label(struct data_entry *entry, int label); int copy_entry_labels(struct data_entry *dest, struct data_entry *source); /* hitlists */ struct hitlist *new_hitlist(void); void clear_hitlist(struct hitlist *hl); void free_hitlist(struct hitlist *hl); struct hit_entry *find_hit(struct hitlist *hl, long label); int add_hit(struct hitlist *hl, long label); void print_hitlist(struct hitlist *hl, FILE *fp); int hitlist_label_freq(struct hitlist *hl, long label); #endif /* _LVQ_LABELS_H */ pyro/brain/psom/csom_src/som_pak-dev/lvq_pak.c0170755890006789009108900003535007504101247052445 0ustar dblankfaculty/************************************************************************ * * * Program packages 'lvq_pak' and 'som_pak' : * * * * lvq_pak.c * * -very general routines needed in many places * * * * Version /85 * * Date: 1 Mar 89950 * * * * NOTE: This program package is copyrighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs contained in this package may be copied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #include #include #include #include #include #include #include "lvq_pak.h" #include "datafile.h" /* find_winner_euc - finds the winning entry (1 nearest neighbour) in codebook using euclidean distance. Information about the winning entry is saved in the winner_info structure. Return 1 (the number of neighbours) when successful and 0 when winner could not be found (for example, all components of data vector have been masked off) */ int find_winner_euc(struct entries *codes, struct data_entry *sample, struct winner_info *win, int knn) { struct data_entry *codetmp; int dim, i, masked; float diffsf, diff, difference; eptr p; dim = codes->dimension; win->index = -1; win->winner = NULL; win->diff = -1.0; /* Go through all code vectors */ codetmp = rewind_entries(codes, &p); diffsf = FLT_MAX; while (codetmp != NULL) { difference = 0.0; masked = 0; /* Compute the distance between codebook and input entry */ for (i = 0; i < dim; i++) { if ((sample->mask != NULL) && (sample->mask[i] != 0)) { masked++; continue; /* ignore vector components that have 1 in mask */ } diff = codetmp->points[i] - sample->points[i]; difference += diff * diff; if (difference > diffsf) break; } if (masked == dim) return 0; /* can't calculate winner, empty data vector */ /* If distance is smaller than previous distances */ if (difference < diffsf) { win->winner = codetmp; win->index = p.index; win->diff = difference; diffsf = difference; } codetmp = next_entry(&p); } if (win->index < 0) ifverbose(3) fprintf(stderr, "find_winner_euc: can't find winner\n"); return 1; /* number of neighbours */ } /* find_winner_knn - finds the winning entrys (k nearest neighbours) in codebook using euclidean distance. Information about the winning entry is saved in the winner_info structures provided by the caller. Return k (the number of neighbours) when successful and 0 when winner could not be found (for example, all components of data vector have been masked off) */ int find_winner_knn(struct entries *codes, struct data_entry *sample, struct winner_info *win, int knn) { struct data_entry *codetmp; int dim, i, j, masked; float difference, diff; eptr p; if (knn == 1) /* might be a little faster */ return find_winner_euc(codes, sample, win, 1); dim = codes->dimension; for (i = 0; i < knn; i++) { win[i].index = -1; win[i].winner = NULL; win[i].diff = FLT_MAX; } /* Go through all code vectors */ codetmp = rewind_entries(codes, &p); while (codetmp != NULL) { difference = 0.0; masked = 0; /* Compute the distance between codebook and input entry */ for (i = 0; i < dim; i++) { /* pitaisiko ottaa huomioon myos codebookissa olevat?? */ if ((sample->mask != NULL) && (sample->mask[i] != 0)) { masked++; continue; /* ignore vector components that have 1 in mask */ } diff = codetmp->points[i] - sample->points[i]; difference += diff * diff; if (difference > win[knn-1].diff) break; } if (masked == dim) return 0; /* If distance is smaller than previous distances */ for (i = 0; (i < knn) && (difference > win[i].diff); i++); if (i < knn) { for (j = knn - 1; j > i; j--) { win[j].diff = win[j - 1].diff; win[j].index = win[j - 1].index; win[j].winner = win[j - 1].winner; } win[i].diff = difference; win[i].index = p.index; win[i].winner = codetmp; } codetmp = next_entry(&p); } if (win->index < 0) ifverbose(3) fprintf(stderr, "find_winner_knn: can't find winner\n"); return knn; /* number of neighbours */ } /* vector_dist_euc - compute distance between two vectors is euclidean metric. Returns < 0 if distance couldn't be calculated (all components were masked off */ float vector_dist_euc(struct data_entry *v1, struct data_entry *v2, int dim) { float diff, difference; int i, masked = 0; difference = 0.0; for (i = 0; i < dim; i++) { if (((v1->mask != NULL) && (v1->mask[i] != 0)) || ((v2->mask != NULL) && (v2->mask[i] != 0))) { masked++; /* ignore vector components that have 1 in mask */ } else { diff = v1->points[i] - v2->points[i]; difference += diff * diff; } } if (masked == dim) return -1; return sqrt(difference); } /* adapt_vector - move a codebook vector towards another vector */ void adapt_vector(struct data_entry *codetmp, struct data_entry *sample, int dim, float alpha) { int i; for (i = 0; i < dim; i++) if ((sample->mask != NULL) && (sample->mask[i] != 0)) continue; /* ignore vector components that have 1 in mask */ else codetmp->points[i] += alpha * (sample->points[i] - codetmp->points[i]); } /******************************************************************* * Routines for general usage * *******************************************************************/ /* package errors */ int lvq_errno; void errormsg(char *msg) { fprintf(stderr, "%s\n", msg); } /* My own free routine */ void ofree(void *data) { if (data != NULL) free(data); } /* oalloc - my malloc allocation routine with some error checking. Not used much any more as it exits if an error occurs. */ void *oalloc(unsigned int len) { void *tmp; if ((tmp = malloc(len)) == NULL) { fprintf(stderr, "Can't allocate memory"); exit(-1); } return(tmp); } /* orealloc - my realloc allocation routine with some error checking. Not used much any more as it exits if an error occurs. */ void *orealloc(void *po, unsigned int len) { void *tmp; if ((tmp = realloc(po, len)) == NULL) { fprintf(stderr, "Can't reallocate memory"); exit(-1); } return(tmp); } /* Print dots indicating that a job is in progress */ void mprint(long rlen) { #ifndef time_t #define time_t long #endif static time_t startt, prevt; time_t currt; static long totlen = 0; long t1, t2; int i; currt=time(NULL); if (!totlen) { totlen=rlen; startt=currt; fprintf(stderr, " "); for (i=0; i<10; i++) fprintf(stderr, "------"); } if (currt!=prevt || !rlen) { t1=currt-startt; if (rlen!=totlen) t2=(currt-startt)*(float)totlen/(totlen-rlen); else t2=0; if (t2>9999) { t1/=60; t2/=60; i=0; } else i=1; fprintf(stderr, "\r%4u/%4u %4s ", (int)t1, (int)t2, i?"sec.":"min."); if (totlen) { i=(int) (60*(float)(totlen-rlen)/totlen); while (i--) fprintf(stderr, "."); } fflush(stderr); prevt=currt; } if (!rlen) totlen=0; } static unsigned long next = 1; #define RND_MAX 32767L /* May define my own random generator */ void osrand(int i) { next = i; } int orand() { return((int) ((next = (next * 23) % 190606001) % RND_MAX)); } /* init_random - initialize own random number generator with seed. If seed is 0, uses current time as seed. */ void init_random(int seed) { if (!seed) osrand((int) time(NULL)); else osrand(seed); } int verbose_level = 1; int verbose(int level) { if (level >= 0) { verbose_level = level; } return(verbose_level); } int silent(int level) { static int silent_level = 0; if (level >= 0) { silent_level = level; } return(silent_level); } int use_fixed(int level) { static int fixed_level = 0; if (level >= 0) { fixed_level = level; } return(fixed_level); } int use_weights(int level) { static int weights_level = 0; if (level >= 0) { weights_level = level; } return(weights_level); } /* ostrdup - return a pointer to a duplicate of string str. If no memory for new string cannot be allocated, return NULL. */ char *ostrdup(char *str) { char *tmp; int len; /* allocate mem for duplicate */ len = strlen(str); if (len < 0) return NULL; tmp = malloc(sizeof(char) * (len + 1)); if (tmp == NULL) { fprintf(stderr, "ostrdup: Can't allocate mem.\n"); perror("ostrdup"); return NULL; } /* copy string */ strcpy(tmp, str); return(tmp); } /******************************************************************* * Routines to get the parameter values * *******************************************************************/ static int no_parameters = -1; int parameters_left(void) { return(no_parameters); } long oatoi(char *str, long def) { if (str == (char *) NULL) return(def); else return(atoi(str)); } float oatof(char *str, float def) { if (str == (char *) NULL) return(def); else return((float) atof(str)); } char *extract_parameter(int argc, char **argv, char *param, int when) { int i = 0; if (no_parameters == -1) no_parameters = argc - 1; while ((i < argc) && (strcmp(param, argv[i]))) { i++; } if ((i <= argc - 1) && (when == OPTION2)) { no_parameters -= 1; return ""; } if (i < argc-1) { no_parameters -= 2; return(argv[i+1]); } else { if (when == ALWAYS) { fprintf(stderr, "Can't find asked option %s\n", param); exit(-1); } } return((char *) NULL); } /* global_options - handle some options that are common to all programs. Also read some environment variables. */ int global_options(int argc, char **argv) { char *s; /* set program name */ setprogname(argv[0]); #ifndef NO_PIPED_COMMANDS /* command for compressing */ s = getenv("LVQSOM_COMPRESS_COMMAND"); if (s) compress_command = s; s = extract_parameter(argc, argv, "-compress_cmd", OPTION); if (s) compress_command = s; /* command for uncompressing */ s = getenv("LVQSOM_UNCOMPRESS_COMMAND"); if (s) uncompress_command = s; s = extract_parameter(argc, argv, "-uncompress_cmd", OPTION); if (s) uncompress_command = s; #endif /* NO_PIPED_COMMANDS */ /* string that identifies a vector component to be ignored in files */ s = getenv("LVQSOM_MASK_STR"); if (s) masked_string = s; s = extract_parameter(argc, argv, "-mask_str", OPTION); if (s) masked_string = s; if (extract_parameter(argc, argv, "-version", OPTION2)) fprintf(stderr, "Version: %s\n", get_version()); verbose(oatoi(extract_parameter(argc, argv, VERBOSE, OPTION), 1)); return 0; } /* save_snapshot - save a snapshot of the codebook */ int save_snapshot(struct teach_params *teach, long iter) { struct entries *codes = teach->codes; struct snapshot_info *shot = teach->snapshot; char filename[1024]; /* hope this is enough */ char comments[1024]; /* make filename */ sprintf(filename, "%s.%d", shot->filename, iter); /* open file for writing */ fprintf(stderr, "saving snapshot: file '%s', type '%s'\n", filename, get_str_by_id(snapshot_list, shot->type)); sprintf(comments, "#SNAPSHOT FILE\n#iterations: %ld (%ld total)\n", iter, teach->length); if (save_entries_wcomments(codes, filename, comments)) return 1; /* error */ return 0; } /* get_snapshot - allocate and initialize snapshot info */ struct snapshot_info *get_snapshot(char *filename, int interval, int type) { struct snapshot_info *shot; shot = malloc(sizeof(struct snapshot_info)); if (shot == NULL) { fprintf(stderr, "get_snapshot: Can't allocate structure\n"); perror("get_snapshot"); return NULL; } /* allocate room for string */ shot->filename = NULL; if (filename) if ((shot->filename = malloc(strlen(filename) + 1)) == NULL) { fprintf(stderr, "get_snapshot: Can't allocate mem for string\n"); perror("get_snapshot"); free(shot); return NULL; } else strcpy(shot->filename, filename); shot->interval = interval; shot->type = type; fprintf(stderr, "snapshot: filename: '%s', interval: %d, type: %s\n", shot->filename, shot->interval, get_str_by_id(snapshot_list, type)); return shot; } /* free_snapshot - deallocate snapshot info */ void free_snapshot(struct snapshot_info *shot) { if (shot) { if (shot->filename) free(shot->filename); free(shot); } } /* get_type_by_id - search typelist for id */ struct typelist *get_type_by_id(struct typelist *types, int id) { for (;types->str; types++) if (types->id == id) break; return types; } /* get_type_by_str - search typelist for string */ struct typelist *get_type_by_str(struct typelist *types, char *str) { for (;types->str; types++) if (str) /* NULL str gets the last item */ if (strcasecmp(types->str, str) == 0) break; return types; } /* ------- different alpha functions -------------- */ /* alpha functions */ struct typelist alpha_list[] = { {ALPHA_LINEAR, "linear", linear_alpha}, {ALPHA_INVERSE_T, "inverse_t", inverse_t_alpha}, {ALPHA_UNKNOWN, NULL, NULL}}; /* default */ /* linearly decreasing alpha */ float linear_alpha(long iter, long length, float alpha) { return (alpha * (float) (length - iter) / (float) length); } #define INV_ALPHA_CONSTANT 190.0 float inverse_t_alpha(long iter, long length, float alpha) { float c; c = length / INV_ALPHA_CONSTANT; return (alpha * c / (c + iter)); } /* print_lines */ int print_lines(FILE *fp, char **lines) { char *line; while ((line = *lines++)) fputs(line, fp); return 0; } pyro/brain/psom/csom_src/som_pak-dev/lvq_pak.h0170755890006789009108900001242007504101247052444 0ustar dblankfaculty/************************************************************************ * * * Program packages 'lvq_pak' and 'som_pak' : * * * * lvq_pak.h * * -definitions needed in programs * * * * Version /85 * * Date: 1 Mar 89950 * * * * NOTE: This program package is copyrighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs contained in this package may be copied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #ifndef LVQ_PAK_H #define LVQ_PAK_H #include #include #include #include #include "config.h" /* parameters */ #define ALWAYS 1 /* required */ #define OPTION 0 /* optional */ #define OPTION2 2 /* optional, doesn't require an argument */ #define IN_DATA_FILE "-din" #define OUT_DATA_FILE "-dout" #define IN_CODE_FILE "-cin" #define OUT_CODE_FILE "-cout" #define NUMBER_OF_CODES "-noc" #define RUNNING_LENGTH "-rlen" #define TRAINING_ALPHA "-alpha" #define TRAINING_EPSILON "-epsilon" #define TRAINING_RADIUS "-radius" #define WINDOW_WIDTH "-win" #define KNN_NEIGHBORS "-knn" #define LABEL "-label" #define OUT_CLASSIFICATION_FILE "-cfout" #define VERBOSE "-v" #define RANDOM "-rand" #define SILENT "-silent" #define XDIM "-xdim" #define YDIM "-ydim" #define TOPOLOGY "-topol" #define NEIGHBORHOOD "-neigh" #define PLANE "-plane" #define FIXPOINTS "-fixed" #define WEIGHTS "-weights" struct fixpoint { short xfix; short yfix; }; /* every entry (either input data or code vector) is stored in linked lists consisting of following objects */ struct data_entry { float *points; /* index to label data base */ union { int *label_array; int label; } lab; short num_labs; short weight; /* pointer to next entry in list */ struct data_entry *next; char *mask; /* if mask is present, ignore vector components marked with nonzero */ struct fixpoint *fixed; }; struct entries { short dimension; /* dimension of the entry */ short topol; /* topology type */ short neigh; /* neighbourhood */ short xdim, ydim; /* dimensions of the map */ struct data_entry *current; /* current entry */ struct data_entry *entries; /* pointer to entries */ long num_loaded; /* number of lines loaded in entries list */ long num_entries; /* number of entries in the data set if known */ struct { unsigned int loadmode : 1; /* read whole file into memory or read entries from file when needed */ unsigned int totlen_known : 1; /* true when total length of file is known */ unsigned int random_order : 1; /* use data vectors in random order. only available in LOADMODE_ALL */ unsigned int skip_empty : 1; /* Ignore vectors that have all components masked off (default) */ unsigned int labels_needed : 1; /* Set if labels are required */ } flags; int lap; /* how many times have all samples been used */ struct file_info *fi; /* file info for file if needed */ long buffer; /* how many lines to read from file at one time */ }; #define labels_needed(codes) ((codes)->flags.labels_needed = 1) /* structure used to get information about the winning entries. Also with k-nns */ struct winner_info { long index; struct data_entry *winner; float diff; }; /* adaptation function type */ struct teach_params; /* function type for adapting a neighboruhood */ typedef void NEIGH_ADAPT(struct teach_params *teach, struct data_entry *sample, int bx, int by, float radius, float alpha); /* function type for adapting a vector. */ typedef void VECTOR_ADAPT(struct data_entry *c, struct data_entry *s, int d, float a); /* function to return the distance between two units on the 2D map */ typedef float MAPDIST_FUNCTION(int bx, int by, int tx, int ty); /* general distance between two vectors */ typedef float DIST_FUNCTION(struct data_entry *v1, struct data_entry *v2, int dim); typedef int WINNER_FUNCTION(struct entries *codes, struct data_entry *sample, struct winner_info *w, int knn); typedef float ALPHA_FUNC(long iter, long length, float alpha); struct snapshot_info { long interval; /* save codebook every 'interval' iterations */ char *filename; /* filename of snapshot file */ int type; /* type of action */ }; /* Snapshot types. Not actually used right now because first two are determined from the filename and the last one is not yet implemented */ #define SNAPSHOT_SAVEFILE 1 /* Save codebook in file */ #define SNAPSHOT_EXEC_CMD 2 /* Pipe codebook file to a command. Filename is the command line to execute. */ #define SNAPSHOT_EXEC_CMD_ASYNC 3 /* same as above but fork a new process before saving */ struct teach_params { short topol; short neigh; short alpha_type; MAPDIST_FUNCTION *mapdist; /* calculates distance between two units */ DIST_FUNCTION *dist; /* calculates distance between two vectors */ NEIGH_ADAPT *neigh_adapt; /* adapts weights */ VECTOR_ADAPT *vector_adapt; /* adapt one vector */ WINNER_FUNCTION *winner; /* function to find winner */ ALPHA_FUNC *alpha_func; ALPHA_FUNC *radius_func; // used for devrobs hacks float radius; /* initial radius (for SOM) */ float alpha; /* initial alpha value */ long length; /* length of training */ long count; // current training iteration, used by devrobs modifications double qerror; // devrobs error tracking float error_factor; // ditto int knn; /* nearest neighbours */ struct entries *codes; struct entries *data; struct snapshot_info *snapshot; time_t start_time, end_time; }; #define LOADMODE_ALL 0 #define LOADMODE_BUFFER 1 /* topology types */ #define TOPOL_UNKNOWN 0 #define TOPOL_DATA 1 #define TOPOL_LVQ 2 #define TOPOL_HEXA 3 #define TOPOL_RECT 4 /* neighborhood types */ #define NEIGH_UNKNOWN 0 #define NEIGH_BUBBLE 1 #define NEIGH_GAUSSIAN 2 /* alpha function types */ #define ALPHA_UNKNOWN 0 #define ALPHA_LINEAR 1 #define ALPHA_INVERSE_T 2 struct typelist { int id; /* numeric id */ char *str; void *data; /* data pointer */ }; extern struct typelist alpha_list[]; struct entry_ptr { struct data_entry *current; struct entries *parent; long index; }; typedef struct entry_ptr eptr; extern int lvq_errno; /* labels */ #include "labels.h" WINNER_FUNCTION find_winner_euc, find_winner_knn; DIST_FUNCTION vector_dist_euc; VECTOR_ADAPT adapt_vector; /* useful general routines */ void errormsg(char *msg); void debugmsg(char *msg); void *oalloc(unsigned int len); void *orealloc(void *po, unsigned int len); void ofree(void *ptr); struct fixpoint *get_fixed(char *str); void mprint(long rlen); int verbose(int level); int silent(int level); extern int verbose_level; #define ifverbose(lvl) if (verbose_level >= lvl) void osrand(int i); int orand(); void init_random(int i); char *ostrdup(char *str); long oatoi(char *str, long def); float oatof(char *str, float def); char *extract_parameter(int argc, char **argv, char *param, int when); int parameters_left(void); int global_options(int argc, char **argv); /* Saving snapshots */ int save_snapshot(struct teach_params *teach, long iter); struct snapshot_info *get_snapshot(char *filename, int interval, int type); void free_snapshot(struct snapshot_info *shot); /* typelist searches */ struct typelist *get_type_by_id(struct typelist *types, int id); struct typelist *get_type_by_str(struct typelist *types, char *str); #define get_str_by_id(l,i) (get_type_by_id((l),(i))->str) #define get_id_by_str(l,s) (get_type_by_str((l),(s))->id) #define get_data_by_id(l,i) (get_type_by_id((l),(i))->data) #define get_data_by_str(l,s) (get_type_by_str((l),(s))->data) /* alpha functions */ ALPHA_FUNC linear_alpha, inverse_t_alpha; int print_lines(FILE *fp, char **); #define printhelp() print_lines(stdout,usage) char *get_version(void); #endif /* LVQ_PAK_H */ pyro/brain/psom/csom_src/som_pak-dev/makefile0170755890006789009108900000951587702542223052331 0ustar dblankfacultyinclude ../../../../Makefile.cfg include ../../../../Makefile.src CC=cc CFLAGS=-O $(PYTHON_INCLUDE) LDFLAGS=-s LDLIBS=-lm LD=$(CC) ## Linux ## #CC=gcc #CFLAGS=-O2 #LDFLAGS=-s #LDLIBS=-lm #LD=$(CC) TARGETS=test_devrobs vsom vsomtest qerror mapinit randinit lininit vcal \ visual sammon planes vfind umat TESTFILES=ex.dat ex_fts.dat ex_ndy.dat ex_fdy.dat OBJS=som_devrobs.o som_rout.o lvq_pak.o fileio.o labels.o datafile.o version.o UMATOBJS=umat.o map.o median.o header.o OTHERFILES=header.ps all:: vcal mapinit vsom qerror randinit lininit visual sammon planes vfind umat test_devrobs: test_devrobs.o $(OBJS) vsom $(LD) $(LDFLAGS) -o $@ test_devrobs.o $(OBJS) $(LDLIBS) vsom: vsom.o $(OBJS) $(LD) $(LDFLAGS) -o $@ vsom.o $(OBJS) $(LDLIBS) vsomtest: vsomtest.o $(OBJS) $(LD) $(LDFLAGS) -o $@ vsomtest.o $(OBJS) $(LDLIBS) qerror: qerror.o $(OBJS) $(LD) $(LDFLAGS) -o $@ qerror.o $(OBJS) $(LDLIBS) mapinit: mapinit.o $(OBJS) $(LD) $(LDFLAGS) -o $@ mapinit.o $(OBJS) $(LDLIBS) randinit: mapinit rm -f $@ ln mapinit $@ lininit: mapinit rm -f $@ ln mapinit $@ vcal: vcal.o $(OBJS) $(LD) $(LDFLAGS) -o $@ vcal.o $(OBJS) $(LDLIBS) visual: visual.o $(OBJS) $(LD) $(LDFLAGS) -o $@ visual.o $(OBJS) $(LDLIBS) sammon: sammon.o $(OBJS) $(LD) $(LDFLAGS) -o $@ sammon.o $(OBJS) $(LDLIBS) planes: planes.o $(OBJS) $(LD) $(LDFLAGS) -o $@ planes.o $(OBJS) $(LDLIBS) vfind: vfind.o $(OBJS) $(LD) $(LDFLAGS) -o $@ vfind.o $(OBJS) $(LDLIBS) # Umat umat: $(UMATOBJS) $(OBJS) $(LD) $(LDFLAGS) -o $@ $(UMATOBJS) $(OBJS) $(LDLIBS) map.o umat.o: umat.h fileio.h datafile.o lvq_pak.h labels.h median.o: umat.h # for making development distribution dist: rm -f som_pak-3.0.tar.gz som_pak-3.0.tar tar -cvf som_pak-3.0.tar *.c *.h Makefile.* $(TESTFILES) $(OTHERFILES) gzip -v -9 som_pak-3.0.tar version.o: version.h # for testing #TRAND=-rand 1 #ALPHA_TYPE=-alpha_type inverse_t #BUFFER=-buffer 500 example : ./randinit -din ex.dat -cout ex.cod -xdim 12 -ydim 8 -topol hexa \ -neigh bubble -rand 123 ./vsom -din ex.dat -cin ex.cod -cout ex.cod -rlen 1906 \ -alpha 0.05 -radius 19 $(TRAND) $(ALPHA_TYPE) $(BUFFER) ./vsom -din ex.dat -cin ex.cod -cout ex.cod -rlen 19066 \ -alpha 0.02 -radius 3 $(TRAND) $(ALPHA_TYPE) $(BUFFER) ./qerror -din ex.dat -cin ex.cod ./vcal -din ex_fts.dat -cin ex.cod -cout ex.cod ./visual -din ex_ndy.dat -cin ex.cod -dout ex.nvs ./visual -din ex_fdy.dat -cin ex.cod -dout ex.fvs fileio.o: fileio.h datafile.o: lvq_pak.h datafile.h fileio.h labels.o: labels.h lvq_pak.h lvq_pak.o: lvq_pak.h datafile.h fileio.h labels.h som_rout.o: som_rout.h lvq_pak.h datafile.h fileio.h labels.h som_devrobs.o: som_devrobs.h som_rout.h lvq_pak.h datafile.h fileio.h labels.h vcal.o mapinit.o vsom.o qerror.o visual.o sammon.o:\ lvq_pak.h datafile.h fileio.h labels.h som_rout.h clean:: rm -f *~ *.o $(TARGETS) test*.cod pyro/brain/psom/csom_src/som_pak-dev/map.c0170755890006789009108900010130787633245611050952 0ustar dblankfaculty#include #include #include #include #include "lvq_pak.h" #include "datafile.h" #include "umat.h" /* read the map from the file 'mapfile' and allocate required memory for the data structures */ struct umatrix *read_map (char *mapfile, int xswap, int yswap) { int i,j; int row, topology; struct entries *codes; struct data_entry *dtmp; eptr p; struct umatrix *umat; if ((umat = alloc_umat()) == NULL) { fprintf(stderr, "read_map: can't allocate memory for umatrix\n"); return NULL; } if ((codes = open_entries(mapfile)) == NULL) { fprintf(stderr, "Can't open code file %s\n", mapfile); free_umat(umat); return NULL; } umat->codes = codes; umat->dim = codes->dimension; umat->mxdim = codes->xdim; umat->mydim = codes->ydim; umat->topol = topology = codes->topol; umat->uxdim = 2*umat->mxdim-1; umat->uydim = 2*umat->mydim-1; /* allocate memory for the needed structures */ umat->mvalue = (float ***)malloc(umat->mxdim*sizeof(float **)); for (i = 0; i < umat->mxdim; i++) { umat->mvalue[i] = (float **)malloc(umat->mydim*sizeof(float *)); } /* allocate memory for the u-matrix structure */ umat->uvalue = (float **)malloc(umat->uxdim*sizeof(float *)); for (i=0;iuxdim;i++) umat->uvalue[i] = (float *)malloc(umat->uydim*sizeof(float)); if ((dtmp = rewind_entries(codes, &p)) == NULL) { fprintf(stderr, "can't get data\n"); return NULL; } row = 1; for (j=0;jmydim;j++) for (i=0;imxdim;i++) { /* read the weight vector of the map element [i][j] */ umat->mvalue[i][j] = dtmp->points; dtmp = next_entry(&p); } #if 0 /* Swap the labels if needed */ if (xswap) { char *tmp; for (i=0;ixdim;i++) for (j=0;jydim/2;j++) { tmp = mat->label[i][j]; mat->label[i][j] = mat->label[i][mat->ydim-1-j]; mat->label[i][mat->ydim-1-j] = tmp; } } if (yswap) { char **tmp; for (i=0;ixdim/2;i++) { tmp = mat->label[i]; mat->label[i] = mat->label[mat->xdim-1-i]; mat->label[mat->xdim-1-i] = tmp; } } #endif return(umat); } struct umatrix *alloc_umat(void) { struct umatrix *umat; if ((umat = malloc(sizeof(struct umatrix))) == NULL) { fprintf(stderr, "read_map: can't allocate memory for umatrix\n"); return NULL; } umat->mvalue = NULL; umat->uvalue = NULL; umat->codes = NULL; return umat; } int free_umat(struct umatrix *umat) { int i; if (umat == NULL) return 0; if (umat->codes) close_entries(umat->codes); if (umat->mvalue) { for (i = 0; i < umat->mxdim; i++) if (umat->mvalue[i]) free(umat->mvalue[i]); free(umat->mvalue); } if (umat->uvalue) { for (i = 0; i < umat->uxdim; i++) if (umat->uvalue[i]) free(umat->uvalue[i]); free(umat->uvalue); } free(umat); return 0; } /* Comparison function for the sort */ int compar(const void *first, const void *sec) { if(*(double *)first < *(double *)sec) return -1; else return *(double *)first > *(double *)sec; } /* calculate the u-matrix */ int calc_umatrix(struct umatrix *umat,int xswap,int yswap) { int i,j,k,count,bx,by,bz; double dx,dy,dz1,dz2,dz,temp,max=0,min=0, bw; double medtable[6]; /* rectangular topology */ if (umat->topol == TOPOL_RECT) { for (j=0;jmydim;j++) for (i=0;imxdim;i++) { dx=0;dy=0;dz1=0;dz2=0;count=0; bx=0;by=0;bz=0; for (k=0;kdim;k++) { if (i<(umat->mxdim-1)) { temp = (umat->mvalue[i][j][k] - umat->mvalue[i+1][j][k]); dx += temp*temp; bx=1; } if (j<(umat->mydim-1)) { temp = (umat->mvalue[i][j][k] - umat->mvalue[i][j+1][k]); dy += temp*temp; by=1; } if (j<(umat->mydim-1) && i<(umat->mxdim-1)) { temp = (umat->mvalue[i][j][k] - umat->mvalue[i+1][j+1][k]); dz1 += temp*temp; temp = (umat->mvalue[i][j+1][k] - umat->mvalue[i+1][j][k]); dz2 += temp*temp; bz=1; } } dz = (sqrt(dz1)/sqrt((double) 2.0)+sqrt(dz2)/sqrt((double) 2.0))/2; if (bx) umat->uvalue[2*i+1][2*j] = sqrt(dx); if (by) umat->uvalue[2*i][2*j+1] = sqrt(dy); if (bz) umat->uvalue[2*i+1][2*j+1] = dz; } } else /* hexagonal topology */ { for (j=0;jmydim;j++) for (i=0;imxdim;i++) { dx=0;dy=0;dz=0;count=0; bx=0;by=0;bz=0; temp=0; if (i<(umat->mxdim-1)) { for (k=0;kdim;k++) { temp = (umat->mvalue[i][j][k] - umat->mvalue[i+1][j][k]); dx += temp*temp; bx=1; } } temp=0; if (j<(umat->mydim-1)) { if (j%2) { for (k=0;kdim;k++) { temp = (umat->mvalue[i][j][k] - umat->mvalue[i][j+1][k]); dy += temp*temp; by=1; } } else { if (i>0) { for (k=0;kdim;k++) { temp = (umat->mvalue[i][j][k] - umat->mvalue[i-1][j+1][k]); dy += temp*temp; by=1; } } else temp=0; } } temp=0; if (j<(umat->mydim-1)) { if (!(j%2)) { for (k=0;kdim;k++) { temp = (umat->mvalue[i][j][k] - umat->mvalue[i][j+1][k]); dz += temp*temp; } bz=1; } else { if (i<(umat->mxdim-1)) { for (k=0;kdim;k++){ temp = (umat->mvalue[i][j][k] - umat->mvalue[i+1][j+1][k]); dz += temp*temp; } bz=1; } } } else temp=0; if (bx) umat->uvalue[2*i+1][2*j] = sqrt(dx); if (by) { if (j%2) umat->uvalue[2*i][2*j+1] = sqrt(dy); else umat->uvalue[2*i-1][2*j+1] = sqrt(dy); } if (bz) { if (j%2) umat->uvalue[2*i+1][2*j+1] = sqrt(dz); else umat->uvalue[2*i][2*j+1] = sqrt(dz); } } } /* Set the values corresponding to the model vectors themselves to medians of the surrounding values */ if(umat->topol==TOPOL_RECT) { /* medians of the 4-neighborhood */ for (j=0;juydim;j+=2) for (i=0;iuxdim;i+=2) if(i>0 && j>0 && iuxdim-1 && juydim-1) { /* in the middle of the map */ medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i+1][j]; medtable[2]=umat->uvalue[i][j-1]; medtable[3]=umat->uvalue[i][j+1]; qsort((void *)medtable, 4, sizeof(*medtable), compar); /* Actually mean of two median values */ umat->uvalue[i][j]=(medtable[1]+medtable[2])/2.0; } else if(j==0 && i>0 && iuxdim-1) { /* in the upper edge */ medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i+1][j]; medtable[2]=umat->uvalue[i][j+1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } else if(j==umat->uydim-1 && i>0 && iuxdim-1) { /* in the lower edge */ medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i+1][j]; medtable[2]=umat->uvalue[i][j-1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } else if(i==0 && j>0 && juydim-1) { /* in the left edge */ medtable[0]=umat->uvalue[i+1][j]; medtable[1]=umat->uvalue[i][j-1]; medtable[2]=umat->uvalue[i][j+1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } else if(i==umat->uxdim-1 && j>0 && juydim-1) { /* in the right edge */ medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i][j-1]; medtable[2]=umat->uvalue[i][j+1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } else if(i==0 && j==0) /* the upper left-hand corner */ umat->uvalue[i][j]=(umat->uvalue[i+1][j]+umat->uvalue[i][j+1])/2.0; else if(i==umat->uxdim-1 && j==0) { /* the upper right-hand corner */ umat->uvalue[i][j]=(umat->uvalue[i-1][j]+umat->uvalue[i][j+1])/2.0; } else if(i==0 && j==umat->uydim-1) { /* the lower left-hand corner */ umat->uvalue[i][j]=(umat->uvalue[i+1][j]+umat->uvalue[i][j-1])/2.0; } else if(i==umat->uxdim-1 && j==umat->uydim-1) { /* the lower right-hand corner */ umat->uvalue[i][j]=(umat->uvalue[i-1][j]+umat->uvalue[i][j-1])/2.0; } } else /* HEXA */ for (j=0;juydim;j+=2) for (i=0;iuxdim;i+=2) if(i>0 && j>0 && iuxdim-1 && juydim-1) { /* in the middle of the map */ medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i+1][j]; if(!(j%4)) { medtable[2]=umat->uvalue[i-1][j-1]; medtable[3]=umat->uvalue[i][j-1]; medtable[4]=umat->uvalue[i-1][j+1]; medtable[5]=umat->uvalue[i][j+1]; } else { medtable[2]=umat->uvalue[i][j-1]; medtable[3]=umat->uvalue[i+1][j-1]; medtable[4]=umat->uvalue[i][j+1]; medtable[5]=umat->uvalue[i+1][j+1]; } qsort((void *)medtable, 6, sizeof(*medtable), compar); /* Actually mean of two median values */ umat->uvalue[i][j]=(medtable[2]+medtable[3])/2.0; } else if(j==0 && i>0 && iuxdim-1) { /* in the upper edge */ medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i+1][j]; medtable[2]=umat->uvalue[i][j+1]; medtable[3]=umat->uvalue[i-1][j+1]; qsort((void *)medtable, 4, sizeof(*medtable), compar); /* Actually mean of two median values */ umat->uvalue[i][j]=(medtable[1]+medtable[2])/2.0; } else if(j==umat->uydim-1 && i>0 && iuxdim-1) { /* in the lower edge */ medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i+1][j]; if(!(j%4)) { medtable[2]=umat->uvalue[i-1][j-1]; medtable[3]=umat->uvalue[i][j-1]; } else { medtable[2]=umat->uvalue[i][j-1]; medtable[3]=umat->uvalue[i+1][j-1]; } qsort((void *)medtable, 4, sizeof(*medtable), compar); /* Actually mean of two median values */ umat->uvalue[i][j]=(medtable[1]+medtable[2])/2.0; } else if(i==0 && j>0 && juydim-1) { /* in the left edge */ medtable[0]=umat->uvalue[i+1][j]; if(!(j%4)) { medtable[1]=umat->uvalue[i][j-1]; medtable[2]=umat->uvalue[i][j+1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } else { medtable[1]=umat->uvalue[i][j-1]; medtable[2]=umat->uvalue[i+1][j-1]; medtable[3]=umat->uvalue[i][j+1]; medtable[4]=umat->uvalue[i+1][j+1]; qsort((void *)medtable, 5, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[2]; } } else if(i==umat->uxdim-1 && j>0 && juydim-1) { /* in the right edge */ medtable[0]=umat->uvalue[i-1][j]; if(j%4) { medtable[1]=umat->uvalue[i][j-1]; medtable[2]=umat->uvalue[i][j+1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } else { medtable[1]=umat->uvalue[i][j-1]; medtable[2]=umat->uvalue[i-1][j-1]; medtable[3]=umat->uvalue[i][j+1]; medtable[4]=umat->uvalue[i-1][j+1]; qsort((void *)medtable, 5, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[2]; } } else if(i==0 && j==0) /* the upper left-hand corner */ umat->uvalue[i][j]=(umat->uvalue[i+1][j]+umat->uvalue[i][j+1])/2.0; else if(i==umat->uxdim-1 && j==0) { /* the upper right-hand corner */ medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i-1][j+1]; medtable[2]=umat->uvalue[i][j+1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } else if(i==0 && j==umat->uydim-1) { /* the lower left-hand corner */ if(!(j%4)) umat->uvalue[i][j]=(umat->uvalue[i+1][j]+umat->uvalue[i][j-1])/2.0; else { medtable[0]=umat->uvalue[i+1][j]; medtable[1]=umat->uvalue[i][j-1]; medtable[2]=umat->uvalue[i+1][j-1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } } else if(i==umat->uxdim-1 && j==umat->uydim-1) { /* the lower right-hand corner */ if(j%4) umat->uvalue[i][j]=(umat->uvalue[i-1][j]+umat->uvalue[i][j-1])/2.0; else { medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i][j-1]; medtable[2]=umat->uvalue[i-1][j-1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } } /* Swap the matrix if needed */ if (xswap) { float tmp; for (i=0;iuxdim;i++) for (j=0;juydim/2;j++) { tmp = umat->uvalue[i][j]; umat->uvalue[i][j] = umat->uvalue[i][umat->uydim-1-j]; umat->uvalue[i][umat->uydim-1-j] = tmp; } } if (yswap) { float *tmp; for (i=0;iuxdim/2;i++) { tmp = umat->uvalue[i]; umat->uvalue[i] = umat->uvalue[umat->uxdim-1-i]; umat->uvalue[umat->uxdim-1-i] = tmp; } } /* find the minimum and maximum values */ max = -FLT_MAX; min = FLT_MAX; /* min=umat->uvalue[0][0]; */ for (i=0;iuxdim;i++) for (j=0;juydim;j++) { if (umat->uvalue[i][j] > max) max = umat->uvalue[i][j]; if (umat->uvalue[i][j] < min) min = umat->uvalue[i][j]; } ifverbose(2) { fprintf(stderr,"minimum distance between elements : %f\n",min); fprintf(stderr,"maximum distance between elements : %f\n",max); } bw = max - min; /* scale values to [0,1] */ for (i=0;iuxdim;i++) for (j=0;juydim;j++) umat->uvalue[i][j] = 1.0 - (umat->uvalue[i][j] - min) / bw; #if 0 umat->uvalue[i][j] = -umat->uvalue[i][j]/max+1.0; #endif return 0; } void swap_umat(struct umatrix *umat, int x,int y) { int i,j; if (x) { float tmp; for (i=0;iuxdim;i++) for (j=0;juydim/2;j++) { tmp = umat->uvalue[i][j]; umat->uvalue[i][j] = umat->uvalue[i][umat->uydim-1-j]; umat->uvalue[i][umat->uydim-1-j] = tmp; } } if (y) { float *tmp; for (i=0;iuxdim/2;i++) { tmp = umat->uvalue[i]; umat->uvalue[i] = umat->uvalue[umat->uxdim-1-i]; umat->uvalue[umat->uxdim-1-i] = tmp; } } /* Labels too */ #if 0 if (x) { char *tmp; for (i=0;ixdim;i++) for (j=0;jydim/2;j++) { tmp = mat->label[i][j]; mat->label[i][j] = mat->label[i][mat->ydim-1-j]; mat->label[i][mat->ydim-1-j] = tmp; } } if (y) { char **tmp; for (i=0;ixdim/2;i++) { tmp = mat->label[i]; mat->label[i] = mat->label[mat->xdim-1-i]; mat->label[mat->xdim-1-i] = tmp; } } #endif } int average_umatrix(struct umatrix *umat) { int i,j; struct umatrix *umat2; umat2 = alloc_umat(); umat2->uxdim = umat->uxdim; umat2->uydim = umat->uydim; umat2->uvalue = (float **)malloc(umat->uxdim*sizeof(float *)); for (i=0;iuxdim;i++) umat2->uvalue[i] = (float *)malloc(umat->uydim*sizeof(float)); /* rectangular topology */ if (umat->topol==TOPOL_RECT) { for (j=0;juydim;j++) for (i=0;iuxdim;i++) if(i&&j&&(juydim-1)&&(iuxdim-1)){ /* Non borders */ umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+ umat->uvalue[i-1][j]+ umat->uvalue[i][j]+ umat->uvalue[i+1][j]+ umat->uvalue[i][j+1])/5.0); } else if(i && (iuxdim-1) && !j) { /* West brdr*/ umat2->uvalue[i][j]=((umat->uvalue[i-1][j]+ umat->uvalue[i][j]+ umat->uvalue[i+1][j]+ umat->uvalue[i][j+1])/4.0); } else if (!i && j&& (juydim-1)) { /*north*/ umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+ umat->uvalue[i][j]+ umat->uvalue[i+1][j]+ umat->uvalue[i][j+1])/4.0); } else if ( i && (i < umat->uxdim-1)&& (j==umat->uydim-1)) { /* south */ umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+ umat->uvalue[i-1][j]+ umat->uvalue[i][j]+ umat->uvalue[i+1][j])/4.0); } else if ( j && (j < umat->uydim-1)&& (i == umat->uxdim-1)) { /* east*/ umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+ umat->uvalue[i-1][j]+ umat->uvalue[i][j]+ umat->uvalue[i][j+1])/4.0); } /*corners*/ umat2->uvalue[0][umat->uydim-1]=(umat->uvalue[1][umat->uydim-1]+ umat->uvalue[0][umat->uydim-1]+ umat->uvalue[0][umat->uydim-2])/3.0; umat2->uvalue[umat->uxdim-1][umat->uydim-1]=(umat->uvalue[umat->uxdim-2][umat->uydim-1]+ umat->uvalue[umat->uxdim-1][umat->uydim-1]+ umat->uvalue[umat->uxdim-1][umat->uydim-2])/3.0; umat2->uvalue[umat->uxdim-1][0]=(umat->uvalue[umat->uxdim-2][0]+ umat->uvalue[umat->uxdim-1][0]+ umat->uvalue[umat->uxdim-1][1])/3.0; umat2->uvalue[0][0]=(umat->uvalue[1][0]+ umat->uvalue[0][1]+ umat->uvalue[0][0])/3.0; } else /* hexagonal topology */ { /*else*/ for (j=1;juydim-1;j++) for (i=1;iuxdim-1;i++) /* Non-borders */ { if((j%4)==1){ umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+ umat->uvalue[i+1][j-1]+umat->uvalue[i-1][j]+ umat->uvalue[i][j]+umat->uvalue[i+1][j]+ umat->uvalue[i-1][j+1]+ umat->uvalue[i][j+1])/((float) 7.0)); } else if((j%4)==2) { umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+ umat->uvalue[i+1][j-1]+umat->uvalue[i-1][j]+ umat->uvalue[i][j]+umat->uvalue[i+1][j]+ umat->uvalue[i][j+1]+ umat->uvalue[i+1][j+1])/((float) 7.0)); } else if((j%4)==3) { umat2->uvalue[i][j]=((umat->uvalue[i-1][j-1]+ umat->uvalue[i][j-1]+umat->uvalue[i-1][j]+ umat->uvalue[i][j]+umat->uvalue[i+1][j]+ umat->uvalue[i][j+1]+ umat->uvalue[i+1][j+1])/((float) 7.0)); } else if((j%4)==0) { umat2->uvalue[i][j]=((umat->uvalue[i-1][j-1]+ umat->uvalue[i][j-1]+umat->uvalue[i-1][j]+ umat->uvalue[i][j]+umat->uvalue[i+1][j]+ umat->uvalue[i-1][j+1]+ umat->uvalue[i][j+1])/((float) 7.0)); } } /* north border */ j=0; for (i=1;iuxdim-1;i++) umat2->uvalue[i][j]=((umat->uvalue[i-1][j]+ umat->uvalue[i][j]+umat->uvalue[i+1][j]+ umat->uvalue[i-1][j+1]+ umat->uvalue[i][j+1])/((float) 5.0)); /*south border*/ j=umat->uydim-1; for (i=1;iuxdim-1;i++){ if((j%4)==1){ umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+ umat->uvalue[i+1][j-1]+umat->uvalue[i-1][j]+ umat->uvalue[i][j]+ umat->uvalue[i+1][j])/((float) 5.0)); } else if((j%4)==2) { umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+ umat->uvalue[i+1][j-1]+umat->uvalue[i-1][j]+ umat->uvalue[i][j]+ umat->uvalue[i+1][j])/((float) 5.0)); } else if((j%4)==3) { umat2->uvalue[i][j]=((umat->uvalue[i-1][j-1]+ umat->uvalue[i][j-1]+umat->uvalue[i-1][j]+ umat->uvalue[i][j]+ umat->uvalue[i+1][j])/((float) 5.0)); } else if((j%4)==0) { umat2->uvalue[i][j]=((umat->uvalue[i-1][j-1]+ umat->uvalue[i][j-1]+umat->uvalue[i-1][j]+ umat->uvalue[i][j]+ umat->uvalue[i+1][j] )/((float) 5.0)); } } /*east border*/ i=umat->uxdim-1; for (j=1;juydim-1;j++) { if((j%4)==1){ umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+ umat->uvalue[i-1][j]+ umat->uvalue[i][j]+ umat->uvalue[i-1][j+1]+ umat->uvalue[i][j+1])/((float) 5.0)); } else if((j%4)==2) { umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+ umat->uvalue[i-1][j]+ umat->uvalue[i][j]+ umat->uvalue[i][j+1])/((float) 4.0)); } else if((j%4)==3) { umat2->uvalue[i][j]=((umat->uvalue[i-1][j-1]+ umat->uvalue[i][j-1]+umat->uvalue[i-1][j]+ umat->uvalue[i][j]+ umat->uvalue[i][j+1])/((float) 5.0)); } else if((j%4)==0) { umat2->uvalue[i][j]=((umat->uvalue[i-1][j-1]+ umat->uvalue[i][j-1]+umat->uvalue[i-1][j]+ umat->uvalue[i][j]+ umat->uvalue[i-1][j+1]+ umat->uvalue[i][j+1])/((float) 6.0)); } } i=0; for (j=1;juydim-1;j++) /*west border*/ { if((j%4)==1){ umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+ umat->uvalue[i+1][j-1]+ umat->uvalue[i][j]+umat->uvalue[i+1][j]+ umat->uvalue[i][j+1])/((float) 5.0)); } else if((j%4)==2) { umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+ umat->uvalue[i+1][j-1]+ umat->uvalue[i][j]+umat->uvalue[i+1][j]+ umat->uvalue[i][j+1]+ umat->uvalue[i+1][j+1])/((float) 6.0)); } else if((j%4)==3) { umat2->uvalue[i][j]=(( umat->uvalue[i][j-1]+ umat->uvalue[i][j]+umat->uvalue[i+1][j]+ umat->uvalue[i][j+1]+ umat->uvalue[i+1][j+1])/((float) 5.0)); } else if((j%4)==0) { umat2->uvalue[i][j]=((umat->uvalue[i][j-1]+ umat->uvalue[i][j]+umat->uvalue[i+1][j]+ umat->uvalue[i][j+1])/((float) 4.0)); } } /*Corners*/ umat2->uvalue[0][0] = ( umat->uvalue[1][0] + umat->uvalue[0][0] + umat->uvalue[0][1] )/((float)3.0); umat2->uvalue[(umat->uxdim-1)][0] = ( umat->uvalue[(umat->uxdim-1)][0] + umat->uvalue[(umat->uxdim-1)][1] + umat->uvalue[(umat->uxdim-2)][0] + umat->uvalue[(umat->uxdim-2)][1] )/ ((float) 4.0); umat2->uvalue[(umat->uxdim-1)][(umat->uydim-1)] = ( /* Short cut */ umat->uvalue[(umat->uxdim-1)][(umat->uydim-1)] + umat->uvalue[(umat->uxdim-1)][(umat->uydim-2)] + umat->uvalue[(umat->uxdim-2)][(umat->uydim-1)])/ ((float) 3.0); umat2->uvalue[0][(umat->uydim-1)] = ( umat->uvalue[0][(umat->uydim-1)] + umat->uvalue[1][(umat->uydim-1)] + umat->uvalue[0][(umat->uydim-2)] )/ ((float) 3.0); /*Short cut */ } for (j=0;juydim;j++) for (i=0;iuxdim;i++){ umat->uvalue[i][j]=umat2->uvalue[i][j]; } free_umat(umat2); /* find the minimum and maximum values */ /* min=umat->uvalue[0][0]; for (i=0;iuxdim;i++) for (j=0;juydim;j++) { if (umat->uvalue[i][j] > max) max = umat->uvalue[i][j]; if (umat->uvalue[i][j] < min) min = umat->uvalue[i][j]; } fprintf(stderr,"minimum distance between elements : %f\n",min); fprintf(stderr,"maximum distance between elements : %f\n",max); for (i=0;iuxdim;i++) for (j=0;juydim;j++) umat->uvalue[i][j] = umat->uvalue[i][j]/max; */ return 0; } int median_umatrix(struct umatrix *umat) { int i,j; struct umatrix *umat2; umat2 = alloc_umat(); umat2->uxdim = umat->uxdim; umat2->uydim = umat->uydim; umat2->uvalue = (float **)malloc(umat->uxdim*sizeof(float *)); for (i=0;iuxdim;i++) umat2->uvalue[i] = (float *)malloc(umat->uydim*sizeof(float)); /* rectangular topology */ if (umat->topol==TOPOL_RECT) { for (j=0;juydim;j++) for (i=0;iuxdim;i++) if(i&&j&&(juydim-1)&&(iuxdim-1)){ umat2->uvalue[i][j]=(median5(umat->uvalue[i][j-1], umat->uvalue[i-1][j], umat->uvalue[i][j], umat->uvalue[i+1][j], umat->uvalue[i][j+1])); } else if(i && (iuxdim-1) && !j) { umat2->uvalue[i][j]=(median4(umat->uvalue[i-1][j], umat->uvalue[i][j], umat->uvalue[i+1][j], umat->uvalue[i][j+1])); } else if (!i && j&& (juydim-1)) { umat2->uvalue[i][j]=(median4(umat->uvalue[i][j-1], umat->uvalue[i][j], umat->uvalue[i+1][j], umat->uvalue[i][j+1])); } else if ( i && (i < umat->uxdim-1)&& (j==umat->uydim-1)) { umat2->uvalue[i][j]=(median4(umat->uvalue[i][j-1], umat->uvalue[i-1][j], umat->uvalue[i][j], umat->uvalue[i+1][j])); } else if ( j && (j < umat->uydim-1)&& (i==umat->uxdim-1)) { umat2->uvalue[i][j]=(median5(umat->uvalue[i][j-1], umat->uvalue[i-1][j], umat->uvalue[i-1][j], umat->uvalue[i][j], umat->uvalue[i][j+1])); } umat2->uvalue[0][umat->uydim-1]=median3(umat->uvalue[1][umat->uydim-1], umat->uvalue[0][umat->uydim-1], umat->uvalue[0][umat->uydim-2]); umat2->uvalue[umat->uxdim-1][umat->uydim-1]=median3(umat->uvalue[umat->uxdim-2][umat->uydim-1], umat->uvalue[umat->uxdim-1][umat->uydim-1], umat->uvalue[umat->uxdim-1][umat->uydim-2]); umat2->uvalue[umat->uxdim-1][0]=median3(umat->uvalue[umat->uxdim-2][0], umat->uvalue[umat->uxdim-1][0], umat->uvalue[umat->uxdim-1][1]); umat2->uvalue[0][0]=median3(umat->uvalue[1][0], umat->uvalue[0][1], umat->uvalue[0][0]); } else /* hexagonal topology */ { /*else*/ for (j=1;juydim-1;j++) for (i=1;iuxdim-1;i++) /* Non-borders */ { if((j%4)==1){ umat2->uvalue[i][j]=(median7(umat->uvalue[i][j-1], umat->uvalue[i+1][j-1],umat->uvalue[i-1][j], umat->uvalue[i][j],umat->uvalue[i+1][j], umat->uvalue[i-1][j+1], umat->uvalue[i][j+1])); } else if((j%4)==2) { umat2->uvalue[i][j]=(median7(umat->uvalue[i][j-1], umat->uvalue[i+1][j-1],umat->uvalue[i-1][j], umat->uvalue[i][j],umat->uvalue[i+1][j], umat->uvalue[i][j+1], umat->uvalue[i+1][j+1])); } else if((j%4)==3) { umat2->uvalue[i][j]=(median7(umat->uvalue[i-1][j-1], umat->uvalue[i][j-1],umat->uvalue[i-1][j], umat->uvalue[i][j],umat->uvalue[i+1][j], umat->uvalue[i][j+1], umat->uvalue[i+1][j+1])); } else if((j%4)==0) { umat2->uvalue[i][j]=(median7(umat->uvalue[i-1][j-1], umat->uvalue[i][j-1],umat->uvalue[i-1][j], umat->uvalue[i][j],umat->uvalue[i+1][j], umat->uvalue[i-1][j+1], umat->uvalue[i][j+1])); } } /* north border */ j=0; for (i=1;iuxdim-1;i++) umat2->uvalue[i][j]=(median5(umat->uvalue[i-1][j], umat->uvalue[i][j],umat->uvalue[i+1][j], umat->uvalue[i-1][j+1], umat->uvalue[i][j+1])); /*south border*/ j=umat->uydim-1; for (i=1;iuxdim-1;i++){ if((j%4)==1){ umat2->uvalue[i][j]=(median5(umat->uvalue[i][j-1], umat->uvalue[i+1][j-1],umat->uvalue[i-1][j], umat->uvalue[i][j], umat->uvalue[i+1][j])); } else if((j%4)==2) { umat2->uvalue[i][j]=(median5(umat->uvalue[i][j-1], umat->uvalue[i+1][j-1],umat->uvalue[i-1][j], umat->uvalue[i][j], umat->uvalue[i+1][j])); } else if((j%4)==3) { umat2->uvalue[i][j]=(median5(umat->uvalue[i-1][j-1], umat->uvalue[i][j-1],umat->uvalue[i-1][j], umat->uvalue[i][j], umat->uvalue[i+1][j])); } else if((j%4)==0) { umat2->uvalue[i][j]=(median5(umat->uvalue[i-1][j-1], umat->uvalue[i][j-1],umat->uvalue[i-1][j], umat->uvalue[i][j], umat->uvalue[i+1][j] )); } } /*east border*/ i=umat->uxdim-1; for (j=1;juydim-1;j++) { if((j%4)==1){ umat2->uvalue[i][j]=(median5(umat->uvalue[i][j-1], umat->uvalue[i-1][j], umat->uvalue[i][j], umat->uvalue[i-1][j+1], umat->uvalue[i][j+1])); } else if((j%4)==2) { umat2->uvalue[i][j]=(median4(umat->uvalue[i][j-1], umat->uvalue[i-1][j], umat->uvalue[i][j], umat->uvalue[i][j+1])); } else if((j%4)==3) { umat2->uvalue[i][j]=(median5(umat->uvalue[i-1][j-1], umat->uvalue[i][j-1],umat->uvalue[i-1][j], umat->uvalue[i][j], umat->uvalue[i][j+1])); } else if((j%4)==0) { umat2->uvalue[i][j]=(median6(umat->uvalue[i-1][j-1], umat->uvalue[i][j-1],umat->uvalue[i-1][j], umat->uvalue[i][j], umat->uvalue[i-1][j+1], umat->uvalue[i][j+1])); } } i=0; for (j=1;juydim-1;j++) /*west border*/ { if((j%4)==1){ umat2->uvalue[i][j]=(median5(umat->uvalue[i][j-1], umat->uvalue[i+1][j-1], umat->uvalue[i][j],umat->uvalue[i+1][j], umat->uvalue[i][j+1])); } else if((j%4)==2) { umat2->uvalue[i][j]=(median6(umat->uvalue[i][j-1], umat->uvalue[i+1][j-1], umat->uvalue[i][j],umat->uvalue[i+1][j], umat->uvalue[i][j+1], umat->uvalue[i+1][j+1])); } else if((j%4)==3) { umat2->uvalue[i][j]=(median5( umat->uvalue[i][j-1], umat->uvalue[i][j],umat->uvalue[i+1][j], umat->uvalue[i][j+1], umat->uvalue[i+1][j+1])); } else if((j%4)==0) { umat2->uvalue[i][j]=(median4(umat->uvalue[i][j-1], umat->uvalue[i][j],umat->uvalue[i+1][j], umat->uvalue[i][j+1])); } } /*Corners*/ umat2->uvalue[0][0] = median3( umat->uvalue[1][0] , umat->uvalue[0][0] , umat->uvalue[0][1] ); umat2->uvalue[(umat->uxdim-1)][0] = median4( umat->uvalue[(umat->uxdim-1)][0] , umat->uvalue[(umat->uxdim-1)][1] , umat->uvalue[(umat->uxdim-2)][0] , umat->uvalue[(umat->uxdim-2)][1] ); umat2->uvalue[(umat->uxdim-1)][(umat->uydim-1)] = median3( /* Short cut */ umat->uvalue[(umat->uxdim-1)][(umat->uydim-1)] , umat->uvalue[(umat->uxdim-1)][(umat->uydim-2)] , umat->uvalue[(umat->uxdim-2)][(umat->uydim-1)]); umat2->uvalue[0][(umat->uydim-1)] = median3( umat->uvalue[0][(umat->uydim-1)] , umat->uvalue[1][(umat->uydim-1)] , umat->uvalue[0][(umat->uydim-2)] ); /*Short cut */ } for (j=0;juydim;j++) for (i=0;iuxdim;i++){ umat->uvalue[i][j]=umat2->uvalue[i][j]; } free_umat(umat2); /* find the minimum and maximum values */ #if 0 min=max=umat->uvalue[0][0]; for (i=0;iuxdim;i++) for (j=0;juydim;j++) { if (umat->uvalue[i][j] > max) max = umat->uvalue[i][j]; if (umat->uvalue[i][j] < min) min = umat->uvalue[i][j]; } ifverbose(2) { fprintf(stderr,"minimum distance between elements : %f\n",min); fprintf(stderr,"maximum distance between elements : %f\n",max); } for (i=0;iuxdim;i++) for (j=0;juydim;j++) umat->uvalue[i][j] = umat->uvalue[i][j]/max; #endif return 0; } #if 0 /* calculate the input data distribution */ void datamatrix(char *data_file,Map map,Mat mat,char *outputfile,int xswap, int yswap) { FILE *in,*out; int i,j,k,datadim,xmax,ymax; float *data; double temp,dist,mindist; int lask,row,skip,maxline; char *s,*tok; /* open the input data file */ if (!(in=fopen(data_file,"r"))) { fprintf(stderr,"Can't open datafile %s\n",data_file); exit(-1); } /* read the dimension of the input data */ fscanf(in,"%i",&datadim); if (datadim != umat->dim) { fprintf(stderr,"Dimension of the input data vector must be same\n"); fprintf(stderr,"than dimension of the weight vector of the map\n"); exit(-1); } /* define the maximum lenght of the row in the input data file */ maxline = 20*datadim+64; s = (char *)malloc(maxline*sizeof(char)); data = (float *)malloc(datadim*sizeof(float)); lask = -1; row = 1; mygetline(in,s,maxline); do { ++lask; skip = 0; do { ++row; mygetline(in,s,maxline); /* if the row in the input file starts with # or with newline, skip it */ if (strcmp(s,"")==NULL || s[0]=='#') { fprintf(stderr,"Skipping row %i in %s\n",row,data_file); skip = 1; } else skip = 0; }while (skip==1); if (!feof(in)) { tok = strtok(s," "); for (i=0;imxdim;i++) for (j=0;jmydim;j++) { dist=0; for (k=0;kmvalue[i][j][k] - data[k]; dist += temp*temp; if (dist >= mindist) break; } if (dist < mindist) { xmax = i; ymax = j; mindist = dist; } } ++mat->value[xmax][ymax]; } } while (!feof(in)); fprintf(stderr,"%i data vectors read from %s\n",lask,data_file); /* Swap the matrix if needed */ if (xswap) { float tmp; for (i=0;ixdim;i++) for (j=0;jydim/2;j++) { tmp = mat->value[i][j]; mat->value[i][j] = mat->value[i][mat->ydim-1-j]; mat->value[i][mat->ydim-1-j] = tmp; } } if (yswap) { float *tmp; for (i=0;ixdim/2;i++) { tmp = mat->value[i]; mat->value[i] = mat->value[mat->xdim-1-i]; mat->value[mat->xdim-1-i] = tmp; } } /* find the largest matrix value */ xmax=0; for (i=0;imxdim;i++) for (j=0;jmydim;j++) { if (mat->value[i][j] > xmax) xmax = mat->value[i][j]; } /* write the input data distribution to a file if requested */ if (outputfile!=NULL) { if ((out=fopen(outputfile,"w")) == NULL) { fprintf(stderr,"can't open file %s for input data distribution\n", outputfile); exit(-1); } for (j=0;jydim;j++) { for (i=0;ixdim;i++) fprintf(out,"%i ",(int) mat->value[i][j]); fprintf(out,"\n"); } fprintf(stderr,"input data distribution matrix written in %s\n", outputfile); } /* scale the matrix to [0,1] */ for (i=0;imxdim;i++) for (j=0;jmydim;j++) mat->value[i][j] = mat->value[i][j]/xmax; } #endif pyro/brain/psom/csom_src/som_pak-dev/mapinit.c0190755900076490003109000001401607506137347021443 0ustar dblankfaculty/************************************************************************ * * * Program package 'som_pak': * * * * mapinit.c (for randinit and lininit) * * - initializes the codebook vectors for SOM learning * * * * Version 3.0 * * Date: 1 Mar 1995 * * * * NOTE: This program package is copyrighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs contained in this package may be copied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #include #include #include #include "lvq_pak.h" #include "som_rout.h" #include "datafile.h" #define IT_UNKNOWN 0 #define IT_LIN 1 /* lininit */ #define IT_RAND 2 /* randinit */ static char *usage[] = { "mapinit/randinit/lininit - initializes the codebook vectors for SOM learning\n", "Initialzation type is determined from program name (randinit or lininit)\n", "or is selected with the -init option.\n", "Required parameters:\n", " -din filename input data\n", " -cout filename output codebook filename\n", " -topol type topology type of map, hexa or rect\n", " -neigh type neighborhood type, bubble or gaussian\n", " -xdim integer\n", " -ydim integer dimensions of the map\n", "Optional parameters:\n", " -init type initialization type, rand or lin. Overrides the\n", " type determined from the program name\n", " -rand integer seed for random number generator. 0 is current time\n", " -buffer integer buffered reading of data, integer lines at a time\n", NULL}; int main(int argc, char **argv) { int number_of_codes, randomize, xdim, ydim, buffer; int topol; int neigh; char *in_data_file, *out_code_file, *s, *progname; struct entries *data, *codes; int init_type = IT_UNKNOWN; char comments[256]; global_options(argc, argv); if (extract_parameter(argc, argv, "-help", OPTION2)) { printhelp(); exit(0); } progname = getprogname(); if (strcasecmp(progname, "lininit") == 0) init_type = IT_LIN; else if (strcasecmp(progname, "randinit") == 0) init_type = IT_RAND; in_data_file = extract_parameter(argc, argv, IN_DATA_FILE, ALWAYS); out_code_file = extract_parameter(argc, argv, OUT_CODE_FILE, ALWAYS); randomize = (int) oatoi(extract_parameter(argc, argv, RANDOM, OPTION), 0); buffer = oatoi(extract_parameter(argc, argv, "-buffer", OPTION), 0); /* the topology type of the map */ s = extract_parameter(argc, argv, TOPOLOGY, ALWAYS); topol = topol_type(s); if (topol == TOPOL_UNKNOWN) { fprintf(stderr, "Unknown topology type %s\n", s); exit(1); } /* the neighbourhood type */ s = extract_parameter(argc, argv, NEIGHBORHOOD, ALWAYS); neigh = neigh_type(s); if (neigh == NEIGH_UNKNOWN) { fprintf(stderr, "Unknown neighborhood type %s\n", s); exit(1); } xdim = (int) oatoi(extract_parameter(argc, argv, XDIM, ALWAYS), 0); ydim = (int) oatoi(extract_parameter(argc, argv, YDIM, ALWAYS), 0); /* initialization type, overrides the one guessed from program name */ s = extract_parameter(argc, argv, "-init", OPTION); if (s) if (strcmp(s, "lin") == 0) init_type = IT_LIN; else if (strcmp(s, "rand") == 0) init_type = IT_RAND; if (parameters_left()) { fprintf(stderr, "Extra parameters in command line ignored\n"); } if (init_type == IT_UNKNOWN) { fprintf(stderr, "Unknown initialization type %s\n", s ? s : progname); exit(1); } label_not_needed(1); number_of_codes = xdim * ydim; if (number_of_codes <= 0) { fprintf(stderr, "Dimensions of map (%d %d) are incorrect\n", xdim, ydim); exit(1); } if (xdim < 0) { fprintf(stderr, "Dimensions of map (%d %d) are incorrect\n", xdim, ydim); exit(1); } ifverbose(2) fprintf(stderr, "Input entries are read from file %s\n", in_data_file); if ((data = open_entries(in_data_file)) == NULL) { fprintf(stderr, "Can't open data file '%s'\n", in_data_file); exit(1); } /* set options for data file */ set_buffer(data, buffer); init_random(randomize); /* do initialization */ switch (init_type) { case IT_RAND: ifverbose(2) fprintf(stderr, "initializing codes (random)\n"); codes = randinit_codes(data, topol, neigh, xdim, ydim); break; case IT_LIN: ifverbose(2) fprintf(stderr, "initializing codes (linear)\n"); codes = lininit_codes(data, topol, neigh, xdim, ydim); break; default: fprintf(stderr, "Unknown initialization type %d\n", init_type); codes = NULL; break; } close_entries(data); if (codes == NULL) { fprintf(stderr, "initialization failure\n"); exit(1); } ifverbose(2) fprintf(stderr, "Codebook entries are saved to file %s\n", out_code_file); sprintf(comments, "# random seed: %d\n", randomize); save_entries_wcomments(codes, out_code_file, comments); close_entries(codes); return(0); } pyro/brain/psom/csom_src/som_pak-dev/median.c0190755900076490003109000000353307506137347021241 0ustar dblankfaculty#include #include #include float median7(float yy,float kaa, float koo, float nee, float vii, float kuu,float see) { float array[7]; float tmp; int i,j; array[0]=yy; array[1]=kaa; array[2]=koo; array[3]=nee; array[4]=vii; array[5]=kuu; array[6]=see; for(j=0;j<7-1;j++) for(i=0;i<7-1-j;i++){ if(array[i]>array[i+1]) { tmp=array[i]; array[i] = array[i+1]; array[i+1]=tmp; } } return(array[3]); } float median6(float yy,float kaa, float koo, float nee, float vii, float kuu) { float array[6]; float tmp; int i,j; array[0]=yy; array[1]=kaa; array[2]=koo; array[3]=nee; array[4]=vii; array[5]=kuu; for(j=0;j<6-1;j++) for(i=0;i<6-1-j;i++){ if(array[i]>array[i+1]) { tmp=array[i]; array[i] = array[i+1]; array[i+1]=tmp; } } return(array[3]); } float median5(float yy,float kaa, float koo, float nee, float vii) { float array[5]; float tmp; int i,j; array[0]=yy; array[1]=kaa; array[2]=koo; array[3]=nee; array[4]=vii; for(j=0;j<5-1;j++) for(i=0;i<5-1-j;i++){ if(array[i]>array[i+1]) { tmp=array[i]; array[i] = array[i+1]; array[i+1]=tmp; } } return(array[2]); } float median4(float yy,float kaa, float koo, float nee) { float array[4]; float tmp; int i,j; array[0]=yy; array[1]=kaa; array[2]=koo; array[3]=nee; for(j=0;j<4-1;j++) for(i=0;i<4-1-j;i++){ if(array[i]>array[i+1]) { tmp=array[i]; array[i] = array[i+1]; array[i+1]=tmp; } } return(array[2]); } float median3(float yy,float kaa, float koo) { float array[3]; float tmp; int i,j; array[0]=yy; array[1]=kaa; array[2]=koo; for(j=0;j<3-1;j++) for(i=0;i<3-1-j;i++){ if(array[i]>array[i+1]) { tmp=array[i]; array[i] = array[i+1]; array[i+1]=tmp; } } return(array[1]); } pyro/brain/psom/csom_src/som_pak-dev/planes.c0190755900076490003109000003312507506137347021266 0ustar dblankfaculty/************************************************************************ * * * Program package 'som_pak': * * * * planes.c * * -convert the map planes into postscript format for printing * * * * Version 3.0 * * Date: 1 Mar 1995 * * * * NOTE: This program package is copyrighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs contained in this package may be copied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #include #include #include #include #include "lvq_pak.h" #include "datafile.h" #include "labels.h" #include "som_rout.h" #define XMSTEP 40 #define YMSTEP ((int) ((int) XSTEP * 0.87)) struct traj_point { int index; struct traj_point *next; }; struct teach_params params; int plane; char *mapname, *base_name; int traj_ready = 0; int *dens; struct traj_point traj_root; int ps = 0; int XSTEP, YSTEP; static char *usage[] = { "planes - produce EPS images of self-organizing maps\n", "Required parameters:\n", " -cin filename codebook file\n", "Optional parameters:\n", " -din filename input data\n", " -plane integer map reference vector component to be used (0=all)\n", " -ps integer produce PS-code (instead of EPS)\n", " -buffer integer buffered reading of data, integer lines at a time\n", NULL}; /* ps_string_filter: escape ps special characters in string. Returns a pointer to a static buffer containing the escaped string. */ char *ps_string_filter(char *text) { static char ps_string[1024]; /* This should be enough for most purposes */ char *s = ps_string, c; if (text) while ((c = *text++)) { switch (c) { case '(': case ')': case '\\': *s++ = '\\'; break; default: break; } *s++ = c; } *s++ = 0; return ps_string; } void print_plane(int plane) { float cv; int xp, yp; int index, offset = 0; int label; float maxval, minval; struct teach_params *teach = ¶ms; struct entries *codes = teach->codes; struct data_entry *codetmp; FILE *fp; char str[100]; int xsize, ysize; eptr p; if (ps) sprintf(str, "%s_p%d.ps", base_name, plane+1); else sprintf(str, "%s_p%d.eps", base_name, plane+1); fp = fopen(str, "w"); if (codes->topol == topol_type("hexa")) offset = XSTEP/2; xsize = XSTEP * codes->xdim + offset; ysize = YSTEP * codes->ydim; if (ps) { /* print ps header */ fprintf(fp, "%%!PS-Adobe-2.0 EPSF-2.0\n"); fprintf(fp, "%%%%Title: %s\n%%%%Creator: planes\n", "undefined"); fprintf(fp, "%%%%Pages: 1\n%%%%EndComments\n"); fprintf(fp, "550 40 translate\n"); fprintf(fp, "90 rotate\n"); fprintf(fp, "760 %d div 510 %d div lt\n", xsize, ysize); fprintf(fp, " {760 %d 0 sub div} {510 %d div} ifelse\n", xsize, ysize); fprintf(fp, "/gscale exch def\n"); fprintf(fp, "gscale dup scale\n"); } else { /* print eps header */ fprintf(fp, "%%!PS-Adobe-2.0 EPSF-2.0\n"); fprintf(fp, "%%%%Title: %s\n%%%%Creator: planes\n", "undefined"); fprintf(fp, "%%%%BoundingBox: 0 0 %d %d\n", xsize, ysize); fprintf(fp, "%%%%Pages: 0\n%%%%EndComments\n"); } /* print header */ fprintf(fp, "/fontsize %d def\n", (int) (XSTEP/3)); fprintf(fp, "0 %d translate\n", ysize); fprintf(fp, "1 -1 scale\n"); /* Find the lower and upper limits for gray level scaling */ minval = FLT_MAX; maxval = -FLT_MAX; codetmp = rewind_entries(codes, &p); while (codetmp != NULL) { if (maxval < codetmp->points[plane]) maxval = codetmp->points[plane]; if (minval > codetmp->points[plane]) minval = codetmp->points[plane]; codetmp = next_entry(&p); } /* initialize gray circles */ fprintf(fp, "/radius %d def\n", (int) (XSTEP/2.2)); fprintf(fp, "/LN\n"); fprintf(fp, "{ setgray\n"); fprintf(fp, "newpath\n"); fprintf(fp, "radius 0 360 arc fill\n"); fprintf(fp, "} def\n"); /* Print the gray level values */ index = 0; codetmp = rewind_entries(codes, &p); while (codetmp != NULL) { /* Compute the gray level of next unit */ if ((maxval - minval) != 0.0) cv = 0.05 + 0.9 * (codetmp->points[plane] - minval) / (maxval - minval); else cv = 0.5; xp = XSTEP * (index % codes->xdim) + XSTEP/2; yp = YSTEP * (index / codes->xdim) + YSTEP/2; if ((index / codes->xdim) % 2) xp += offset; /* Print the value */ fprintf(fp, "%d %d %f LN\n", xp, yp, cv); codetmp = next_entry(&p); index++; } /* initialize label printing */ fprintf(fp, "0 setgray\n"); fprintf(fp, "/Helvetica findfont fontsize scalefont setfont\n"); fprintf(fp, "/LP\n"); fprintf(fp, "{ \n"); fprintf(fp, "1 -1 scale dup stringwidth pop\n"); fprintf(fp, "-2 div 0 rmoveto show\n"); fprintf(fp, "1 -1 scale } def\n"); /* Print the labels */ index = 0; codetmp = rewind_entries(codes, &p); while (codetmp != NULL) { /* If there is label, then print it */ xp = XSTEP * (index % codes->xdim) + XSTEP/2; yp = YSTEP * (index / codes->xdim) + YSTEP/2; if ((index / codes->xdim) % 2) xp += offset; if ((label = get_entry_label(codetmp)) != LABEL_EMPTY) fprintf(fp, "%d %d moveto (%s) LP\n", xp, yp, ps_string_filter(find_conv_to_lab(label))); codetmp = next_entry(&p); index++; } if (ps) { fprintf(fp, "showpage\n"); } fclose(fp); } void scan_data_traj(struct entries *codes, struct entries *data) { struct teach_params *teach = ¶ms; WINNER_FUNCTION *find_winner = teach->winner; int i; struct data_entry *datatmp; struct traj_point *traj_po; struct winner_info winner; eptr p; dens = (int *) malloc(sizeof(int) * codes->xdim * codes->ydim); for (i = 0; i < codes->xdim * codes->ydim; i++) dens[i] = 0; traj_root.next = NULL; traj_root.index = 0; traj_po = &traj_root; datatmp = rewind_entries(data, &p); /* Scan all input entries */ while (datatmp != NULL) { /* check if the vector is empty */ if (find_winner(codes, datatmp, &winner, 1) == 0) { traj_po->next = (struct traj_point *) malloc(sizeof(struct traj_point) * 1); traj_po = traj_po->next; traj_po->next = NULL; /* save the winner index */ traj_po->index = -1; } else { traj_po->next = (struct traj_point *) malloc(sizeof(struct traj_point) * 1); traj_po = traj_po->next; traj_po->next = NULL; /* save the winner index */ traj_po->index = winner.index; /* Increment the winner */ dens[winner.index]++; } /* Take the next input entry */ datatmp = next_entry(&p);; } traj_ready = 1; } void print_trajectory() { int i, j; int offset = 0; struct teach_params *teach = ¶ms; struct entries *data = teach->data; struct entries *codes = teach->codes; FILE *fp; char str[100]; int xsize, ysize; if (ps) sprintf(str, "%s_tr.ps", base_name); else sprintf(str, "%s_tr.eps", base_name); fp = fopen(str, "w"); if (codes->topol == TOPOL_HEXA) offset = XSTEP/2; xsize = XSTEP * codes->xdim + offset; ysize = YSTEP * codes->ydim; if (ps) { /* print ps header */ fprintf(fp, "%%!PS-Adobe-2.0 EPSF-2.0\n"); fprintf(fp, "%%%%Title: %s\n%%%%Creator: planes\n", "undefined"); fprintf(fp, "%%%%Pages: 1\n%%%%EndComments\n"); fprintf(fp, "550 40 translate\n"); fprintf(fp, "90 rotate\n"); fprintf(fp, "760 %d div 510 %d div lt\n", xsize, ysize); fprintf(fp, " {760 %d 0 sub div} {510 %d div} ifelse\n", xsize, ysize); fprintf(fp, "/gscale exch def\n"); fprintf(fp, "gscale dup scale\n"); } else { /* print eps header */ fprintf(fp, "%%!PS-Adobe-2.0 EPSF-2.0\n"); fprintf(fp, "%%%%Title: %s\n%%%%Creator: planes\n", "undefined"); fprintf(fp, "%%%%BoundingBox: 0 0 %d %d\n", xsize, ysize); fprintf(fp, "%%%%Pages: 0\n%%%%EndComments\n"); } /* print header */ fprintf(fp, "0 %d translate\n", ysize); fprintf(fp, "1 -1 scale\n"); /* draw empty circles */ fprintf(fp, "1 setlinewidth\n"); fprintf(fp, "0.8 setgray\n"); fprintf(fp, "/radius %d def\n", (int) (XSTEP/2.2)); fprintf(fp, "/LN\n"); fprintf(fp, "{ newpath\n"); fprintf(fp, "radius 0 360 arc\n"); fprintf(fp, "stroke } def\n"); for (i = 0; i < codes->xdim; i++) for (j = 0; j < codes->ydim; j++) { fprintf(fp, "%d %d LN\n", ((int) i * XSTEP + XSTEP/2 + ((j % 2) ? offset : 0)), ((int) j * (int) YSTEP + YSTEP/2)); } /* Set linetype for trajectory */ fprintf(fp, "%d setlinewidth\n", XSTEP/10); fprintf(fp, "1 setlinejoin\n"); fprintf(fp, "1 setlinecap\n"); fprintf(fp, "0 setgray\n"); /* If data values are present, print trajectory */ if (data != NULL) { int cul[2]; int bpos; int first = 1; struct traj_point *traj_po; if (traj_ready == 0) scan_data_traj(codes,data); traj_po = traj_root.next; /* Scan all input entries */ while (traj_po != NULL) { bpos = traj_po->index; if (bpos == -1) { if (!first) { fprintf(fp, "stroke\n"); } first = 1; /* Take the next input entry */ traj_po = traj_po->next; /* Skip until next real data point */ continue; } /* Draw the trajectory */ if (first) { first = 0; cul[0] = XSTEP * (bpos % codes->xdim) + XSTEP/2; cul[1] = YSTEP * (bpos / codes->xdim) + YSTEP/2; if (((bpos / codes->xdim) % 2)) cul[0] += offset; /* print the initialization */ fprintf(fp, "newpath\n"); fprintf(fp, "%d %d moveto\n", cul[0], cul[1]); } else { cul[0] = XSTEP * (bpos % codes->xdim) + XSTEP/2; cul[1] = YSTEP * (bpos / codes->xdim) + YSTEP/2; if (((bpos / codes->xdim) % 2)) cul[0] += offset; /* Print one segment of trajectory */ fprintf(fp, "%d %d lineto\n", cul[0], cul[1]); } /* Take the next input entry */ traj_po = traj_po->next; } fprintf(fp, "stroke\n"); } if (ps) { fprintf(fp, "showpage\n"); } fclose(fp); } void print_all_planes() { int i; struct teach_params *teach = ¶ms; struct entries *codes = teach->codes; for (i = 0; i < codes->dimension; i++) print_plane(i); } int main(int argc, char **argv) { int error, buffer; char *in_code_file; char *in_data_file = NULL; struct entries *codes = NULL; struct entries *data = NULL; int xsize, ysize; int offset = 0; error = 0; global_options(argc, argv); if (extract_parameter(argc, argv, "-help", OPTION2)) { printhelp(); exit(0); } in_code_file = extract_parameter(argc, argv, IN_CODE_FILE, ALWAYS); in_data_file = extract_parameter(argc, argv, IN_DATA_FILE, OPTION); plane = (int) oatoi(extract_parameter(argc, argv, PLANE, OPTION), 1); buffer = oatoi(extract_parameter(argc, argv, "-buffer", OPTION), 0); ps = oatoi(extract_parameter(argc, argv, "-ps", OPTION), 0); mapname = in_code_file; { char *p; base_name = ostrdup(mapname); p = strrchr(base_name, '.'); if (p != NULL) *p = (char) NULL; } label_not_needed(1); ifverbose(2) fprintf(stdout, "Codebook entries are read from file %s\n", in_code_file); codes = open_entries(in_code_file); if (codes == NULL) { fprintf(stderr, "cant open code file '%s'\n", in_code_file); error = 1; goto cleanup; } if (codes->topol < TOPOL_HEXA) { printf("File %s is not a map file\n", in_code_file); error = 1; goto cleanup; } if (in_data_file != NULL) { ifverbose(2) fprintf(stdout, "Data entries are read from file %s\n", in_data_file); if ((data = open_entries(in_data_file)) == NULL) { fprintf(stderr, "cant open data file '%s'\n", in_data_file); error = 1; goto cleanup; } if (data->dimension > codes->dimension) { fprintf(stderr, "Dimensions in data and codebook files are different"); error = 1; goto cleanup; } data->flags.skip_empty = 0; } if (plane > codes->dimension) { fprintf(stderr, "Required plane is bigger than codebook vector dimension"); error = 1; goto cleanup; } set_teach_params(¶ms, codes, data, buffer); set_som_params(¶ms); XSTEP = XMSTEP; YSTEP = XMSTEP; if (codes->topol == topol_type("hexa")) { offset = XSTEP/2; YSTEP = YMSTEP; } /* Every unit gets a fixed size in the picture */ xsize = XSTEP * codes->xdim + offset; ysize = YSTEP * codes->ydim; /* indexing the tables by plane-1 */ plane--; if (plane == -1) print_all_planes(); else print_plane(plane); if (data != NULL) print_trajectory(); cleanup: if (codes) close_entries(codes); if (data) close_entries(data); return(error); } pyro/brain/psom/csom_src/som_pak-dev/qerror.c0190755900076490003109000001022007506137347021305 0ustar dblankfaculty/************************************************************************ * * * Program package 'som_pak': * * * * qerror.c * * -give the quantization error for the data entries * * * * Version 3.0 * * Date: 1 Mar 1995 * * * * NOTE: This program package is copyrighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs contained in this package may be copied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #include #include #include #include "lvq_pak.h" #include "som_rout.h" #include "datafile.h" static char *usage[] = { "qerror - calculate quantization error for the data entries\n", "Required parameters:\n", " -cin filename codebook file\n", " -din filename test data\n", "Optional parameters:\n", " -qetype 1 another way to calculate the error\n", " -radius float radius of neighborhood for alternative above\n", " -buffer integer buffered reading of data, integer lines at a time\n", NULL}; int main(int argc, char **argv) { long nod, buffer; float qerror; char *in_data_file; char *in_code_file; struct teach_params teach; int qmode; struct entries *data, *codes; global_options(argc, argv); if (extract_parameter(argc, argv, "-help", OPTION2)) { printhelp(); exit(0); } in_data_file = extract_parameter(argc, argv, IN_DATA_FILE, ALWAYS); in_code_file = extract_parameter(argc, argv, IN_CODE_FILE, ALWAYS); buffer = oatoi(extract_parameter(argc, argv, "-buffer", OPTION), 0); teach.radius = oatof(extract_parameter(argc, argv, TRAINING_RADIUS, OPTION), 1.0); qmode = oatoi(extract_parameter(argc, argv, "-qetype", OPTION), 0); label_not_needed(1); ifverbose(2) fprintf(stdout, "Input entries are read from file %s\n", in_data_file); data = open_entries(in_data_file); if (data == NULL) { fprintf(stderr, "Can't open datafile: %s\n", in_data_file); exit(1); } ifverbose(2) fprintf(stdout, "Codebook entries are read from file %s\n", in_code_file); codes = open_entries(in_code_file); if (codes == NULL) { fprintf(stderr, "Can't open code file '%s'\n", in_code_file); close_entries(data); exit(1); } if (codes->topol < TOPOL_HEXA) { fprintf(stderr, "File %s is not a map file\n", in_code_file); close_entries(data); close_entries(codes); exit(1); } if (data->dimension != codes->dimension) { fprintf(stderr, "Data and codebook vectors have different dimensions (%d != %d)", data->dimension, codes->dimension); close_entries(data); close_entries(codes); exit(1); } set_teach_params(&teach, codes, data, buffer); set_som_params(&teach); if (qmode > 0) qerror = find_qerror2(&teach); else qerror = find_qerror(&teach); nod = teach.data->num_entries; ifverbose(1) fprintf(stdout, "Quantization error of %s with map %s is %f per sample (%d samples)\n", in_data_file, in_code_file, qerror / (float) nod, nod); else fprintf(stdout, "%f\n", qerror / (float) nod); return(0); } pyro/brain/psom/csom_src/som_pak-dev/sammon.c0190755900076490003109000003134107506137347021274 0ustar dblankfaculty/************************************************************************ * * * Program packages 'lvq_pak' and 'som_pak' : * * * * sammon.c * * - generates a Sammon mapping from a given list * * * * Version 3.0 * * Date: 1 Mar 1995 * * * * NOTE: This program package is copyrighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs contained in this package may be copied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #include #include #include #include #include "lvq_pak.h" #include "datafile.h" #include "labels.h" #define TRUE 1 #define FALSE 0 #define MAGIC 0.2 #define max(x,y) ((x) > (y) ? (x) : (y)) #define min(x,y) ((x) < (y) ? (x) : (y)) static char *usage[] = { "sammon - generates a Sammon mapping from a given list\n", "Required parameters:\n", " -cin filename input codebook file\n", " -cout filename output codebook filename\n", " -rlen integer running length\n", "Optional parameters:\n", " -eps produce an EPS picture of map\n", " -ps produce an PS picture of map\n", " -rand integer seed for random number generator. 0 is current time\n", " -buffer integer buffered reading of data, integer lines at a time\n", NULL}; char *base_name; /* ps_string_filter: escape ps special characters in string. Returns a pointer to a static buffer containing the escaped string. */ char *ps_string_filter(char *text) { static char ps_string[1024]; /* This should be enough for most purposes */ char *s = ps_string, c; if (text) while ((c = *text++)) { switch (c) { case '(': case ')': case '\\': *s++ = '\\'; break; default: break; } *s++ = c; } *s++ = 0; return ps_string; } struct entries *remove_identicals(struct entries *codes, int *rem) { struct data_entry *entr, *entr1, *prev; DIST_FUNCTION *distance = vector_dist_euc; /* tama parameettereista */ eptr p1, p2; int dim = codes->dimension; int ii, ij; /* Compute the mutual distances between entries */ /* Remove the identical entries from the list */ *rem = 0; entr = rewind_entries(codes, &p1); ii = 1; ij = 1; p2.parent = p1.parent; while (entr != NULL) { p2.current = p1.current; p2.index = p1.index; entr1 = next_entry(&p2); ij = ii + 1; prev = p1.current; while (entr1 != NULL) { if (distance(entr, entr1, dim) == 0.0) { fprintf(stderr, "Identical entries in codebook "); fprintf(stderr, "(entries %d, %d), removing one.\n", ii, ij); *rem = 1; codes->num_entries--; prev->next = entr1->next; p2.current = prev; free_entry(entr1); entr1 = next_entry(&p2); ij++; ij++; } else { prev = entr1; entr1 = next_entry(&p2); ij++; } } entr = next_entry(&p1); ii++; } return(codes); } struct entries *sammon_iterate(struct entries *codes, int length) { int i, j, k; long noc = 0; float e1x, e1y, e2x, e2y; float dpj; float dq, dr, dt; struct data_entry *entr, *entr1, *prev, tmp; float *x, *y; float *xu, *yu, *dd; float xd, yd; float xx, yy; float e, tot; int mutual; float d, ee; DIST_FUNCTION *distance = vector_dist_euc; /* tama jotenkin parametrina */ eptr p1, p2; struct entries *newent; int dim = codes->dimension; /* How many entries? */ noc = codes->num_entries; ifverbose(3) fprintf(stderr, "%ld entries in codebook\n", noc); /* Allocate dynamical memory */ x = (float *) oalloc(sizeof(float) * noc); y = (float *) oalloc(sizeof(float) * noc); xu = (float *) oalloc(sizeof(float) * noc); yu = (float *) oalloc(sizeof(float) * noc); dd = (float *) oalloc(sizeof(float) * (noc * (noc - 1) / 2)); /* Initialize the tables */ for (i = 0; i < noc; i++) { x[i] = (float) (orand() % noc) / noc; y[i] = (float) (i) / noc; } /* Compute the mutual distances between entries */ mutual = 0; entr = rewind_entries(codes, &p1); entr = next_entry(&p1); while (entr != NULL) { entr1 = rewind_entries(codes, &p2); while (entr1 != entr) { dd[mutual] = distance(entr, entr1, dim); if (dd[mutual] == 0.0) { fprintf(stderr, "Identical entries in codebook\n"); } mutual++; entr1 = next_entry(&p2); } entr = next_entry(&p1); } /* Iterate */ for (i = 0; i < length; i++) { for (j = 0; j < noc; j++) { e1x = e1y = e2x = e2y = 0.0; for (k = 0; k < noc; k++) { if (j == k) continue; xd = x[j] - x[k]; yd = y[j] - y[k]; dpj = (float) sqrt((double) xd * xd + yd * yd); /* Calculate derivatives */ if (k > j) dt = dd[k * (k - 1) / 2 + j]; else dt = dd[j * (j - 1) / 2 + k]; dq = dt - dpj; dr = dt * dpj; e1x += xd * dq / dr; e1y += yd * dq / dr; e2x += (dq - xd * xd * (1.0 + dq / dpj) / dpj) / dr; e2y += (dq - yd * yd * (1.0 + dq / dpj) / dpj) / dr; } /* Correction */ xu[j] = x[j] + MAGIC * e1x / fabs(e2x); yu[j] = y[j] + MAGIC * e1y / fabs(e2y); } /* Move the center of mass to the center of picture */ xx = yy = 0.0; for (j = 0; j < noc; j ++) { xx += xu[j]; yy += yu[j]; } xx /= noc; yy /= noc; for (j = 0; j < noc; j ++) { x[j] = xu[j] - xx; y[j] = yu[j] - yy; } /* Error in distances */ e = tot = 0.0; mutual = 0; for (j = 1; j < noc; j ++) for (k = 0; k < j; k ++) { d = dd[mutual]; tot += d; xd = x[j] - x[k]; yd = y[j] - y[k]; ee = d - (float) sqrt((double) xd * xd + yd * yd); e += (ee * ee / d); mutual++; } e /= tot; ifverbose(2) fprintf(stdout, "Mapping error: %7.3f\n", e); if (verbose(-1) == 1) mprint((long) (length-i)); } if (verbose(-1) == 1) mprint((long) 0); if (verbose(-1) == 1) fprintf(stderr, "\n"); newent = alloc_entries(); newent->dimension = 2; newent->xdim = codes->xdim; newent->ydim = codes->ydim; newent->topol = codes->topol; newent->neigh = codes->neigh; /* Copy the data to return variable */ prev = &tmp; prev->next = NULL; for (i = 0, entr = rewind_entries(codes, &p1); i < noc; i++, entr = next_entry(&p1)) { entr1 = init_entry(newent, NULL); prev->next = entr1; prev = entr1; entr1->points[0] = x[i]; entr1->points[1] = y[i]; copy_entry_labels(entr1, entr); } newent->entries = tmp.next; newent->num_entries = noc; return(newent); } void save_entries_in_eps(struct entries *spics, char *filename, int ps, int rem) { char str[100]; FILE *fp; struct data_entry *spetr; eptr p; float xmi, xma, ymi, yma; float frac; int label; int xc, yc, ec; xmi = FLT_MAX; xma = FLT_MIN; ymi = FLT_MAX; yma = FLT_MIN; if (ps) sprintf(str, "%s_sa.ps", filename); else sprintf(str, "%s_sa.eps", filename); fp = fopen(str, "w"); if (fp == NULL) { printf("Can't open file%s\n", str); return; } spetr = rewind_entries(spics, &p); while (spetr != NULL) { if (xmi > spetr->points[0]) xmi = spetr->points[0]; if (xma < spetr->points[0]) xma = spetr->points[0]; if (ymi > spetr->points[1]) ymi = spetr->points[1]; if (yma < spetr->points[1]) yma = spetr->points[1]; spetr = next_entry(&p); } if ((xma - xmi)*1.5 > (yma - ymi)) frac = 510.0 / (xma - xmi); else frac = 760.0 / (yma - ymi); spetr = rewind_entries(spics, &p); while (spetr != NULL) { spetr->points[0] = spetr->points[0] - xmi; spetr->points[1] = spetr->points[1] - ymi; spetr = next_entry(&p); } if (ps) { /* print ps header */ fprintf(fp, "%%!PS-Adobe-2.0 EPSF-2.0\n"); fprintf(fp, "%%%%Title: %s\n%%%%Creator: sammon\n", "undefined"); fprintf(fp, "%%%%Pages: 1\n%%%%EndComments\n"); fprintf(fp, "40 40 translate\n"); fprintf(fp, "/gscale %f def\n", frac); fprintf(fp, "gscale dup scale\n"); } else { /* print eps header */ fprintf(fp, "%%!PS-Adobe-2.0 EPSF-2.0\n"); fprintf(fp, "%%%%Title: %s\n%%%%Creator: sammon\n", "undefined"); fprintf(fp, "%%%%BoundingBox: 0 0 %f %f\n", xma - xmi, yma - ymi); fprintf(fp, "%%%%Pages: 0\n%%%%EndComments\n"); fprintf(fp, "/gscale %f def\n", frac); } fprintf(fp, "/Helvetica findfont 12 gscale div scalefont setfont\n"); fprintf(fp, "/radius %f def\n", 2.0/frac); fprintf(fp, "/LN\n"); fprintf(fp, "{newpath\n"); fprintf(fp, "radius 0 360 arc fill\n"); fprintf(fp, "} def\n"); fprintf(fp, "/LP\n"); fprintf(fp, "{dup stringwidth pop\n"); fprintf(fp, "-2 div 0 rmoveto show} def\n"); fprintf(fp, "%f setlinewidth\n", 0.2/frac); fprintf(fp, "0 setgray\n"); spetr = rewind_entries(spics, &p); while (spetr != NULL) { fprintf(fp, "%f %f LN\n", spetr->points[0], spetr->points[1]); if ((label = get_entry_label(spetr)) != LABEL_EMPTY) { fprintf(fp, "%f %f moveto\n", spetr->points[0], spetr->points[1]); fprintf(fp, "(%s) LP\n", ps_string_filter(find_conv_to_lab(label))); } spetr = next_entry(&p); } if (!rem) { xc = 0; spetr = rewind_entries(spics, &p); while (spetr != NULL) { if (xc == 0) { fprintf(fp, "newpath\n"); fprintf(fp, "%f %f moveto\n", spetr->points[0], spetr->points[1]); } else { fprintf(fp, "%f %f lineto\n", spetr->points[0], spetr->points[1]); if (xc == spics->xdim-1) fprintf(fp, "stroke\n"); } spetr = next_entry(&p); xc++; if (xc == spics->xdim) xc = 0; } yc = 0; while (yc < spics->xdim) { xc = 0; ec = 0; spetr = rewind_entries(spics, &p); while (spetr != NULL) { if ((ec == 0) && (xc == yc)) { fprintf(fp, "newpath\n"); fprintf(fp, "%f %f moveto\n", spetr->points[0], spetr->points[1]); } else if (xc == yc) { fprintf(fp, "%f %f lineto\n", spetr->points[0], spetr->points[1]); if (ec == spics->ydim-1) fprintf(fp, "stroke\n"); } spetr = next_entry(&p); xc++; if (xc == spics->xdim) { xc = 0; ec++; } } yc++; } } if (ps) fprintf(fp, "showpage\n"); fclose(fp); } int main(int argc, char **argv) { long length; int randomize; int eps = 0, ps = 0; char *in_code_file; char *out_code_file; struct entries *codes; struct entries *spics; int removed; global_options(argc, argv); if (extract_parameter(argc, argv, "-help", OPTION2)) { printhelp(); exit(0); } in_code_file = extract_parameter(argc, argv, IN_CODE_FILE, ALWAYS); out_code_file = extract_parameter(argc, argv, OUT_CODE_FILE, ALWAYS); length = (int) oatoi(extract_parameter(argc, argv, RUNNING_LENGTH, ALWAYS), 1); randomize = (int) oatoi(extract_parameter(argc, argv, RANDOM, OPTION), 0); eps = (extract_parameter(argc, argv, "-eps", OPTION2) != NULL); ps = (extract_parameter(argc, argv, "-ps", OPTION2) != NULL); label_not_needed(1); ifverbose(2) fprintf(stderr, "Code entries from file %s\n", in_code_file); if ((codes = open_entries(in_code_file)) == NULL) { fprintf(stderr, "can't open code file %s\n", in_code_file); exit(1); } init_random(randomize); /* Remove identical entries from the codebook */ codes = remove_identicals(codes, &removed); spics = sammon_iterate(codes, length); ifverbose(2) fprintf(stderr, "Save code entries to file %s\n", out_code_file); save_entries(spics, out_code_file); { char *p; base_name = ostrdup(out_code_file); p = strrchr(base_name, '.'); if (p != NULL) *p = '\0'; } /* Don't draw lines when the file is not a map file */ if ((codes->topol != TOPOL_RECT) && (codes->topol != TOPOL_HEXA)) removed = 1; if (ps || eps) save_entries_in_eps(spics, base_name, ps, removed); close_entries(codes); close_entries(spics); return(0); } pyro/brain/psom/csom_src/som_pak-dev/som_devrobs.c0190755900076490003109000011053207712247325922321 0ustar dblankfaculty/* som_devrobs.c * ------------- * june 12, 2002 * Daniel Sproul, sproul@sccs.swarthmore.edu * modifications to som_pak-3.1 to create desired functions for use * in Developmental Robotics project. to be wrapped in python with swig * and incorporated in Pyro * ---------------------------------- */ #include #include #include #include #include #include "lvq_pak.h" #include "som_rout.h" #include "datafile.h" #include "som_devrobs.h" /* write_entries() * --------------- * just a silly wrapper for the save_entries() macro because swig does * not support macros */ int write_entries(struct entries *codes, char *out_code_file) { return save_entries(codes, out_code_file); } /* set_globals() * ------------- * set global som_pak parameters */ void set_globals(void) { use_fixed(0); use_weights(1); label_not_needed(1); init_random((int) time(NULL)); } /* get_eptr() * ---------- * create an eptr */ eptr *get_eptr(void) { eptr *p; //p = (eptr *) malloc(sizeof(eptr)); /* WKV 2003-07-28 */ p = (eptr *) calloc(1, sizeof(eptr)); return p; } /* free_eptr() * ----------- * WKV 2003-07-23 */ void free_eptr(eptr *p) { free(p); } /* --------------------- data set manipulation functions ----------------- */ /* init_dataset() * -------------- * allocates space for an entries struct and makes some initializations, * intended for use in constructing data sets (as opposed to sets of model * vectors), ergo the name. 'dim' specfies the dimension of the vectors. * Often used in conjunction with addto_dataset() and train_fromdataset(). */ struct entries *init_dataset(int dim) { struct entries *data; if(dim <= 0) { fprintf(stderr, "init_dataset(): invalid dimension: %d\n", xx /=bchar) NULL; e); dent = alloc_entrita; if (data != NULL) if (data->dimetualm;ULL) if (; p2.currchar) NU) if (->num_entrchar) NULata; } else { fprintf(stderr, "init_datasent = alloc_ent xx /=tencharowpage\n"); xx /=bries *rn p; } /* init_dataset() * ------------F /amical m-- * algranterr, "init_d.------ * WKV 200807-23 */ void"init_d ntries(struct enttriest dim) { struct data_e; p2.c,ntritmp.neta; if f (fp == ; retu; p2.curr if (->num_es, &p); (; p2.c= NULL) prev->n; p2.craj_po->next void"ini= next_; p2.c=->next; p2.currj_po->nextteach.data->num_entri-i)); (teach.data->num_e(qmod else { fprintf(std void"init_d: * *tical entr how* i bufu.cu%de filen-zer linetteach.data->num_eale\n"); { tries(dn(0)p; with addto_datries() * -------------Addneratruct data_le; stnterpre-exisnstru(al(traj_tr *ten ur, "init_dat)------ ading oe ns. * Often used in conjunctiont and"ini= next_*atas----ring. Re1 1; aization ec; s(c0 awishe nacros * with addto_dade; struct entries *dt; struct data_entryyr(void) { ILE *fp; struct data_ej_po->nex if f (fp == else { fprintf(std with addto_dat:(fp =ucting dastroke\n") xx /=b1ri-i)); ( data_f (fp == else { fprintf(std with addto_dat:(fp =ucting datastroke\n") xx /=b1ri-i)) i]; y prev->n if (->num_es, & if (->num_entr; ys, & if (data->num_e yc xx /=b0(dn(0)p; t and"ini= next_ use_ed_maskt_ntries() * ---------------------------riesC- * cratruct data_le; e nacr 'petr->'e fiayma; ar thepe psfyontaininacthe mu* If the acr ' use_'epe psf specfie) andonta use_ension of the (typ_ide a 1.0, *g- * ra use_vectorsa*g- * ra) andontaimate* Promputeap,f data vc = *set(g- * ratrieacc) {n vatries'mask'e fiayecial cha ar thensi1's*set(0's(cset( This shour for me *S); lset'petr->'e nAe1 1ndi* allosense from p2spo%%%Bol data in *'petr->'e This shouignorten used /* ontainin denontats ofof the . *Typ_ide a 'mask'e fi{0, 0, ...} whol, da da a fp =. Mu * modific:tionst ing timarilhe gft upf mass tOftpointt an cerer cosense'petr->',ries'mask'(cset(ininassoci algrSOMatriea *nsion or medebook vector dim ries()erning filev) { ra) uhe n i /*vectorsbs be wi oppos__ ur, _.py *e wi opJ- *9une 13. ries'1); 'e fian ar thensitatic a ps. ries()e wi opJ- *16une 13.nacros fp; struct data_et and"ini= next_ use_ed_maskt_ndd = (fpetr->,e Th su use_, eps)Th su*mask,ent; i, epsargc, co_lab(t dim) { struct data_e; ys, &argc, argcmask *data = NULL; ip.neta;//erning /* hassbs be repos__ ur, _.py. YT; }); ( use_e =c a es, &; y patao_l= 0, ps =; y use_e =c use_; i]; y prev- e =cchar) NU; y ets a e =cchar) NU; y o_l. if ((la0eptr)); /* WKV 2003-07-28; } mask file *(mask)e); { mask *dfilter(eptr *) md\n", end(i=0;ie_file) { rt and"ini= next_ use_ed_maskt_npetr->,e1newent, 0, eturn(0)e); } /1); "ini= next_tries() * --------------------DEPRECATED riesd fo(); r entry_taset( wi entry_tainsttra. YT; *----ring. Re0/che if ((} onta /* ucc)ssfl Sp1 awishe----Thrs have dicetances be wi entrycset( /1); a /*sense------ /1); a, ps, sea * if (s ; iouslheassoci algrctio----ss t data_beende(} onta Take w* if (.ries() wi opJ- *17une 13 (YT)acros })icalefo/1); "ini= next_tries(struct data_entryy,sargc, co_lab(t dimLL; ip.neta; *(o_lab(t dim end(i=0;i if ( poinspe'0'length; ;// if ((ar the filull-tttenn algrctioe'0'.; i++*e//{ prAwi o: %c%f de if ( poie_file); sel = get_entry_= get, ilter(find_colte( if ( )age\n} xx /=b0(d} xx /=b1ri} ----- * wi entry "ini= next_tries() * --------------------ring. Re0/che wiontaa 1); a /* ucc)ssfl Sp1 awishee---- wi entrycsimalheaddneraentryc mass t data;sed i; ious---- ssoci a func, paghted in the ries() wi opJ- *17une 13 (YT)acros */ wi entry "ini= next_tries(struct data_entryy,sargc, co_lab(t dimLL; ip.ne *(o_lab(t dim end(i=0;i if ( (data !ension; i++*e wi = get_entry_= get, ilter(find_colte( if ( )age\n")e(p); (); r entrys "ini= next_tries() * -------------------riesC); rsea * if (s associ algrctioaratruct data_ries() wi opJ- *17une 13 (YT)acros */(); r entrys "ini= next_tries(struct data_entryyr(void(); r copy_entry_labelabs(n(0)p; ------------------a) andontase permit the initialization functions ---------- *se in con set_teach_ptries() * ------------------riesC- * neratruct teach_ptries(s(rnink*nsion fianeratOMatries(sctio----associ algrtruct%Bol _pak para, linlueseach_ teach-buffer cpecfitions,endmtializab " ininacthe mts ofof the s)e naeach-'e This tionbes some inilgranera-- adits ofof the s,apping fide c malndonit(),ries inionit(),wholdes = open_en)e naeach-'ewie c hn't ofer cns,en----ab " ides-ogt, not data->dimenebook vector dim(cset(us of neighb----syphe naalpha_ts ovq_pak'(fp, "_ts ovqpe psfy ininalphaq_pak(fp, "----dectheation fune nacrosle; struct teach__ufu.caram*se in con set_teach_ptries(struct entries * epsps)Th sualpha_ts o* epsps)Th su(fp, "_ts o(t dim) { struct teach__ufu.caram*ch = ¶ *( if (codes === 0lse { fprintf(stdse in con set_teach_pt:(fp =u if (in constroke\n") xx /=bchar) NULL; teach_pf ntries(struct teach__ufu.carae)nt *) malloc(sizeof(struct teach__ufu.cara)age\nseach_ trams *tesizeof(struct teach_e)nt *) malloc(sizeof(struct teach_)age\n } set_teach_pseach_ trams &teach, cwent, 0age\n } set_som_pseach_ trams age\n } up_ufu.cara(rams(¶msseach_ trams ->snap)Thcurrchar) NUseach_ trams ->ries *data = NUseach_ trams ->ufu.culane;*e//us opposeig"Optun some inilgr) andontase perm.neta; { (alpha_ts or(void(: LINEAR_pak'seach_ trams ->alpha_atioula dra r alpha; *p; bid(: INVERSE_T:'seach_ trams ->alpha_atioulaet(arae_t alpha; bidk; de { fprintf(stdse in con set_teach_pt:(ents\n"); fprintf(stdunrecognnilgralphaqts o:ntrie dealpha_ts orts\n"); fprintf(stdusontaLINEARstroke\n")seach_ trams ->alpha_atioula dra r alpha;d} { ((fp, "_ts o(t dim(: LINEAR_pak'seach_ trams ->(fp, "_atioula dra r alpha; *p; bid(: INVERSE_T:'seach_ trams ->(fp, "_atioulaet(arae_t alpha; bidk; de { fprintf(stdse in con set_teach_pt:(ents\n"); fprintf(stdunrecognnilgr(fp, "rts o:ntrie de(fp, "_ts o(ts\n"); fprintf(stdusontaLINEARstroke\n")seach_ trams ->(fp, "_atioula dra r alpha;e\n"); xx /=bch = &parn p; } /* set_teach_ptries() * -----------------F /amical m-- * algrantse in con set_teach_pte------ * WKV 200807-23 */ void set_teach_ptries(struct teach__ufu.caram*ch = &r(void (teach_pf (fp == ; retu voidufu.cara(rams(&parid (teach_ trams a NULL) {{ seach_ trams age\n\nseach_ trams *techar) NULL r{{ seach_free(p); ur, ) andont_se permptries() * -----------------ries /* Initiaa) andontase permictioa some inalphaq_pak(fp, ",ns, * inriesS); lnsio andontase permi(andom nnsiammon_ fun)(cset(aization----- /* Caermi _pak pare n]; /*laste fiaybi * w-hoc, dasu( be ly-----p ontaeptr ind_q)ewie cdees d Promputlaste'f\n", _r = ow' model * vSammoeriectioampute forrec2.cuhavonta Takg- * foreave e ----ring. Re1 1; a falopmation ec; s(c0 awishe n----ata inr, ) andont_se permptries(struct teach__ufu.caram*ch = &* yma; alpha_0,yma; (fp, "_0,y) { long * y) { f\n", _r = owr(void (teach_pf (fp == else { fprintf(stderr, ) andont_se permpt:(fp =utruct teach__ufu.carastroke\n") xx /=b1ri-i)); (seach_ trams *t (fp == else { fprintf(stderr, ) andont_se permpt:(fp =useach_ trams teach_stroke\n") xx /=b1ri-i)) i]/--ss sate thei /*vetrienow doned size ind in pcs o:n__ ur, _.py. YT(tries */); (alpha_0eTION)= 0lse { fprintf(stderr, ) andont_se permpt:(et(): inalpha_0:ntfie ddim-1)alpha_0(ts\n"); fprintf(stdusonta1EPSF-2.0\n")alpha_0e= 1ot = 0}); ((fp, "_0ealpha denpha_0= NUseach_ trams ->teach.rad(fp, "_0= NUseach_ trams ->S); len long lengseach_ trams ->ufu.cu 0, ps =seach_ trams ->e qertot = 0seach_ trams ->\n", _faook v= 1ot 760= d - (ff\n", _r = owrengt xx /=b0(dn(0); } up_snap)Thcptries() * ----------riesSd tout a mapsnap)Thcto se"Saveel * v;-ss satebook wie cbfor thnriese /* ' p():' andom nnsiammon_ fune----If 'snapeboo_prefix'e fi"snap."Sa" " -ranp():e fi100----ss size ires dn mapbook wie cbfo"snap."Sa.100mmonsnap."Sa.200mmoetc.----ring. Re1 1; aization ec; s(c0 awishe nacros *} up_snap)Thcptries(struct teach__ufu.caram*ch = &* es */ cnapeboo_prefix,y) { -ranp():(t dim) { ssnap)Thc_s,en cnapp.neta; *(teach_pf (fp == else { fprintf(std} up_snap)Thcpt:(fp =utruct teach__ufu.carastroke\n") xx /=b1ri-i)); (seach_ trams *t (fp == else { fprintf(std} up_snap)Thcpt:(fp =useach_ trams teach_stroke\n") xx /=b1ri-i)); (-ranp():e<* (j 0lse { fprintf(std} up_snap)Thcpt:(et(): in-ranp():ension: %-ranp():(ke\n") xx /=b1ri-i)); snap*tesizeof(ssnap)Thc_s,en eptr *) malloc(sizeof(ssnap)Thc_s,en)age\n nap etout fil= cnapeboo_prefixge\n nap -ranp():e=%-ranp():ge\n nap " -q= SNAPSHOT_SAVE_COD = 0seach_ trams ->snap)Thcurrcnapp.ngt xx /=b0(dn(0); * ----------------- ufu.carta set manipulation functions ----------------- *Sd tout cfie)wo 3-ector dima((ar thsd size irams teach_ufu.caramle; e----Tfie)wo ar thsdstnde(o andontatruct t, "Maufu.caramendeams *tOManSave ----3(o andontaufu.caramtruc3ct t, "Maufu.caramtrieassoci algrctioaams *----x,ntseordnn alse n];e ar thsdtrie some inilgr)), ergondom nnsinSavsor use ed ining et(ariezer inclut. rs */ voup_ufu.cara(tries(struct teach__ufu.caram*ch = &r(void l; i, y i, int i, j,went->xseach_ trams ->ufm = codes->xdyent->xseach_ trams ->ufm = codes->= 0seach_ trufu.caramtesuneig"ten ut eptr *) malloc(suneig"ten ut )*xd\n", seach_ tmufu.caramtesuneig"ten ut eptr *) malloc(suneig"ten ut )*xd\n", seach_ tufu.cara_went->xodes-ptr)); /* WKV 2003-07-28 each_ tufu.cara_yent->xydes-ptr)); /* WKV 2003-07- end(i=0;iinex teach_pf (fp == ; retu (seach_ trufu.cara)t dim end(i=0;iin; p_seordapoin , &a p_y->n; p_seordapoints[ }); { prIscreevel "Maufu.carnsi->%ntendepetr-:(%d,%damplech (ufu.cara a p_x] a p_y]pointufu.cara a p_x] a p_y]poij = ddim; p_x,y; p_yage\nebook *u.cara a p_x] a p_y]poi yc }); { prIscreevel "Mauf iecaufu.carnsi->%ntendepetr-:(%d,%damplech (ufu.cara a p_x] a p_y]p1intufu.cara a p_x] a p_y]p1ij = ddim; p_x,y; p_yage\nebook *u.cara a p_x] a p_y]p1i yc ra *( u.cara a p_x] a p_y]p1ij>k *u.cara a p_x] a p_y]p2]if (ps) { NU) s prS ontamaxauf iecaufu.carnsi->%ntendepetr-:(%d,%damplech (ok *u.cara a p_x] a p_y]p2intufu.cara a p_x] a p_y]p1iddim-1; p_x,y; p_yage\n ection * *u.cara a p_x] a p_y]p2i>neigu.cara a p_x] a p_y]p1iri-i)); ies */Iferning filets when rstct t, "M(cset(ininlasteammoeraseordnn alion *g filets wher medapecfie; p2.cu denontaseordnn alme, -- cfiti * se ieculternufu.car apper folasteseordnn al.ti * No * last_seordag fif (fp =/checking fi when rstcrum i.veti * whetOMahassn* i bbs beo anded/ammoerabeendeeti *file *(!(last_seordapointlaneepsps&& last_seordapointlanec ==s[1]);!(last_seordapointlaa p_x-&& last_seordapointla; p_yaif (ps) { NU) ) s prR -- "Mauf iecaufu.carnsi->%ntendelastepetr-:(%d,%damplechNU) ) igu.cara last_seordapoi][last_seordapoi]p1int0echNU) ) last_seordapoi, last_seordapoiage\n ection * *u.cara last_seordapoi][last_seordapoi]p1i ec = xx /=NULL)); } /; g_rufu.carptries() * ----------------ring. Reze ireg mar o and ufu.car associ algrctioaze i----rom a seordnn alseacros *} /; g_rufu.carptries(struct teach__ufu.caram*ch = &* epspsodes,seordar(void xx /=b} /ufu.carpch = &* seorda, TRAIN, REGULARfree(); } /uf iec_rufu.carptries() * -------------------ring. Reze ise ieculterno and ufu.car associ algrctioaze i----rom a seordnn alseacros *} /uf iec_rufu.carptries(struct teach__ufu.caram*ch = &* odes,seordar(void xx /=b} /ufu.carpch = &* seorda, TRAIN, CONSECfree(); } /maxuf iec_rufu.carptries() * ----------------------ring. Reze imaxauf ieculterno and ufu.car associ algrctioaze i----rom a seordnn alseacros *} /maxuf iec_rufu.carptries(struct teach__ufu.caram*ch = &* spsodes,seordar(void xx /=b} /ufu.carpch = &* seorda, TRAIN, MAX_CONSECfree(); } /; g_mufu.carptries() * ----------------ring. Reze ireg mar not ufu.car associ algrctioaze i----rom a seordnn alseacros *} /; g_mufu.carptries(struct teach__ufu.caram*ch = &* epspsodes,seordar(void xx /=b} /ufu.carpch = &* seorda, NO_TRAIN, REGULARfree(); } /uf iec_mufu.carptries() * -------------------ring. Reze ise ieculternnot ufu.car associ algrctioaze i----rom a seordnn alseacros *} /uf iec_mufu.carptries(struct teach__ufu.caram*ch = &* odes,seordar(void xx /=b} /ufu.carpch = &* seorda, NO_TRAIN, CONSECfree(); } /maxuf iec_mufu.carptries() * ----------------------ring. Reze imaxauf ieculternnot ufu.car associ algrctioaze i----rom a seordnn alseacros *} /maxuf iec_mufu.carptries(struct teach__ufu.caram*ch = &* spsodes,seordar(void xx /=b} /ufu.carpch = &* seorda, NO_TRAIN, MAX_CONSECfree((); } /ufu.carptries() * -----------Gom a astruct teach__ufu.caramtries(,g fieordnn almeaqts o (TRAIN----apper andontats o* NO_TRAINenough t, "Mats o(, set(ininseu.car " -q----( 0]:REGULAR, 1]:CONSEC, 2]:MAX_CONSECf,eckingation fud xx /=s----ss tm p2spo%%%Bolufu.car associ algrctioazeateseordnn al.q----Bydk; d,nst ring. Reze ireg mar ufu.car associ algrctioazeateacr ufordnn al.tiros *} /ufu.carptries(struct teach__ufu.caram*ch = &* odes,seorda,e Th suts o* l; ;fu.car_" -s(void)neig"ten ut ufu.cara->nex teach_pf (fp == 0lse { fprintf(std} /ufu.carpt:(fp =utruct teach__ufu.carastroke\n") xx /=b1ri-i)); (seach_ trams *t (fp == else { fprintf(std} /ufu.carpt:(fp =useach_ trams teach_stroke\n") xx /=b1ri-i)); (seordapoin>>xseach_ trams ->ufm = codes || U) ) igordapoin>>xseach_ trams ->ufm = cyics->xdim) { fprintf(std} /reg mar/ufu.carpt:(It(): inseordnn alsc(%d,%dampledim-1)seach_ trams ->ufm = codes,xseach_ trams ->ufm = cyics-ri-i)) i] *(ms o t (TRAIN) ion * *u.cara->xseach_ trufu.cara->a; } ion * *u.cara->xseach_ tmufu.cara->nex { (;fu.car_" -s(void(: CONSEC:e\n") xx /=bigu.cara aeordapoi][seordapoi]p1i bid(: MAX_CONSEC:e\n") xx /=bigu.cara aeordapoi][seordapoi]p2] bidk; dee\n") xx /=bigu.cara aeordapoi][seordapoi]p0]) NULLrn )p; ------------------a) andont/ammon maption functions ----------------a----- */ put_onee_eptr() * ---------T and truct teach__ufu.caram et(astruct data_ et(appl specfieammon ma----algortiomr)), ergu* If the ,) xx /=ontaa a point gi bufordnn alsc----nsion o denontats ofof the ,wholfp =/cheaization ec; se----If ms o ingNO_TRAIN, ss sizeate fiae c hacuhamoense----If ms o ingTRAIN, ss sizernnot fi andeduse acm d *disctioarnpha,riesk(fp, ",n et(whaclet, set(ininseu.c fi scre: de----If amoro almesnap)Thctotriea s), annappinginlu.nacros **not_oneetries(struct teach__ufu.caram*ch = &* U) ) fp; struct data_enample* U) ) odes,last_seorda* l; upd al*ufu.car_flagr(void xx /=b/ put_oneech = &* nample* NO_TRAIN, epslast_seorda* upd al*ufu.car_flagr; Lrnodes,) and oneetries(struct teach__ufu.caram*ch = &* U) ) ) fp; struct data_enample* U) ) ) odes,last_seorda* l; upd al*ufu.car_flagr(void xx /=b/ put_oneech = &* nample* TRAIN, epslast_seorda* upd al*ufu.car_flagr; Lrnnodes,/ put_oneetries(struct teach__ufu.caram*ch = &* U) ) ) fp; struct data_enample* Th suts o* U) ) ) odes,last_seorda* l; upd al*ufu.car_flagr(voidNEIGH_ADAPT *adapt >xseach_ trams ->us of_adapt) NUWINNER DIST_FUNCilter dener >xseach_ trams -> dener) NUALPHA DIS/ eptralpha >xseach_ trams ->alpha_atio) NUALPHA DIS/ eptrteach.r >xseach_ trams ->(fp, "_atio;dim) { ssnap)Thc_s,en cnap >xseach_ trams ->snap)Thc;dim) { s dener_s,en de_s,en;dim) { struct entries >xseach_ trams ->ries *codma; alphade(fp, "; psodes,seorda->nex teach_pf (fp == 0lse { fprintf(std/ put_onee_:(fp =utruct teach__ufu.carastroke\n")fflushprintf(", xx /=bchar) NULL r (seach_ trams *t (fp == else { fprintf(stderput_onee_:(fp =useach_ trams teach_stroke\n")fflushprintf(", xx /=bchar) NULL r (nample*t (fp == else { fprintf(stderput_onee_:(fp =unample*truct datastroke\n")fflushprintf(", xx /=bchar) NULL r (ms o (datO_TRAINe&& ms o (daTRAIN) else { fprintf(stderput_onee_:(unrecognnilgrts o:ntrieusontaTRAINmplects o(ts\n");flushprintf(", ms o taTRAIN; NULL r (ms o t (TRAINe&& seach_ trams ->ufu.cullanec else { fprintf(stderput_onee_:(un some inilgr) andontase permstroke\n")fflushprintf(", xx /=bchar) NULL ries */Fiet(ininbesteamts &tusatebs a data ifm-- w a ebook *ordagomize eptr *) m2*alloc(s ut)e_file); nample ets a spetr != ECT)) { use_necaif (ps) seordapoint nample ets a cofixge\n) igordapoint nample ets a cyfixge\nLata; } else "); lter denerntries(cnample* & de_s,en, bose(-0h; i++) e fprintf(stderput_onee_:(nos denerenounen usede c ma lter denern)roke\n"); e fprintf(std(cnkimon matruct%Bostroke\n"); ;{ seordarke\n"); *ordagomchar) NU) goposekimd setge\n} seordapoint de_s,en.lteex %xdim = codes->xd) igordapoint de_s,en.lteex /xdim = codes->xd) seach_ trams ->e qer yd -seach_ trams ->\n", _faook (floseach_ trams ->e q NU) +0seach_ trams ->\n", _faook v*float) sqrt((do de_s,en. hav)) NULL ries */Adapt ss tOsoms file *(ms o t (TRAIN) i++) teach.radeptrteach.(seach_ trams ->ufu.c,xseach_ trams -> long * seach_ trams ->(fp, "nec + = entr1alpha deptralpha(seach_ trams ->ufu.c,xseach_ trams -> long * seach_ trams ->alphae, '.'); nample use_e>(ec == 00); use_wenecai NU) alpha = 1ot e = d - (fpow) sqrt((do(1ot e alphae* sqrt((donample use_e, '.'); alpha ufu.c ycrn; kimd set:ies */r thssnap)Thc linesl_not_p file */ snapc == 0(seach_ trams ->ufu.c %x nap -ranp():)f ((ec == NU) (seach_ trams ->ufu.c >(ec|| eps) snap)Thcpseach_ trams &tseach_ trams ->ufu.cdomize); upd ala) andont/ammon maufu.caramdees dn maon ms o file *(upd al*ufu.car_flagr(voidle *(ms o t (TRAIN) i++) /upd al*ufu.cara(seach_ trufu.cara* seorda, last_seordarge\n} } else /upd al*ufu.cara(seach_ tmufu.cara* seorda, last_seordarge\n} xx /=bseorda->rn )p; ) and train_fromdatries() * -----------------Rumene for ide(o andontase permitries ruct teach_p et(astruc/ voacr uffer ceduse 'truc'e namruc' wie cei acbfogoptnnapping fide c m----nes = open_en)wholbj_tr *onta ur, "init_dat set(ini rt aont-----ubsequ2.cutr *catio with addto_date----Tfie) andontase permicte cstte cl_noject. some inilgrctioatr *c----sotse in con set_teach_pt " -rr, ) andont_se permpt, set------ up_snap)Thcpte */reate de nCr *catiotimont_stardat set(iimont_stopatrieswte cl_noject. madee */reate de----T andontats oatrncei acbfoCYCLICwholargv, RAimate*pecfieorder in whis *u* If the totrieflgr)), ergSOM.----ring. Refp =/chea falopmation ec; s(c awish ring. Rea a poin----ss tlastetruct data_Often us ergu* Ift_d nOften us ergnd in p pfaoe----sotd parmonrgSRNnactiv a funcaft ra) andontapping fu* Ift_d).acrosfp; struct data_e) and train_fromdatries(struct teach__ufu.caram*ch = &* U) ) fp; struct entries *dTh suts o(t dim) { struct data_e; y,s,last->a; { ILE *ze jnt eps,seorda,e,last_seordap.neta; *(teach_pf (fp == else { fprintf(std) and train_fromdat:(fp =utruct teach_ufu.carastroke\n") xx /=bchar) NULL r (seach_ trams *t (fp == else { fprintf(std) and train_fromdat:(fp =useach_ trams teach_stroke\n") xx /=bchar) NULL r (seach_ trams teach-bt (fp == else { fprintf(std) and train_fromdat:(fp =useach_ trams teach_ teach-stroke\n") xx /=bchar) NULL r ( if f (fp == else { fprintf(std) and train_fromdat:(fp =ucting dastroke\n") xx /=bchar) NULL r ( if (data->dime!>xseach_ trams ->ufm = cdata->dim= else { fprintf(std) and train_fromdat:(misamts tenu* Ift_d tructs ofoents\n"); fprintf(stdebook vector dims:ntriesion: %d if (data->dimedim-1)seach_ trams ->ufm = cdata->dim=ke\n") xx /=bchar) NULL & if (flags. init__order =cts o;ile *(ms o t (argv)(1); init_random((int) time(NU28; } ist_seordagt ((-1,rboste *caupd al*ufu.cara(tosense fise\n"*g fi when rstcrum *do(nosl_noject /* se ieculternufu.carac ection ist_seordagtmize eptr *) m2*alloc(s ut)e_fillast_seordapoint last_seordapointane;; / data_f etr = rewind_enries *pics, & */cheatOftpohassbs bedo(ignora * catioissuie)woelse ) andonta; esta,ehing togachdepts ki *tenctioaraseg dn us erelse g- /1); a,o* onee n];e tot((mg fio*disagand garbaginbeonta; x /=teelse )os ergnd in pl* ins(rn tlaste data_w caun some inilg).; i++*-- * WKV 2031ection istntr; y_f etr = rewind_enries *pics iionp); (seach_ trams ->ufu.c long r(voidle *( data_f (fp == data_f etr = rewind_enries *pics, &le *((seordagtm) and oneech = &* ; y,slast_seorda* 1e_file)) ==; i++) e fprintf(std) and train_fromdat:() and oneet xx /=tencharowpage\n\n") xx /=bchar) NU} {{ last_seordargptr)); /* WKV 2003-07-28on ist_seordagtmseordap.neon istntr; yp.neon data_f etr = next_entry(&p) {{ last_seordargptr)YT * WKV 2031ection xx /=blast->e(p); t p train_fromdatries() * ---------------Gom a asn_fromd,eckingation fudt psion of the vn us ergu* I voacr )os erg andeduSOM. ----ring. Refp =/chea falopmation ec; s(c awish ring. Rea a poin----ss tlastetruct data_Often us ergu* Ift_d nOften us ergnd in p pfaoe----sotd parmonrgSRNnactiv a funcaft ra) andontapping fu* Ift_d).acrosfp; struct data_et p train_fromdatries(struct teach__ufu.caram*ch = &* U) tries(struct enttriest dim) { struct data_e; y,s,last->a; { ILE *ze ,seorda,e,last_seordap.ta; *(teach_pf (fp == else { fprintf(stdt p train_fromdat:(fp =utruct teach__ufu.carastroke\n") xx /=bchar) NULL r (seach_ trams *t (fp == else { fprintf(stdt p train_fromdat:(fp =useach_ trams teach_stroke\n") xx /=bchar) NULL r (seach_ trams teach-bt (fp == else { fprintf(stdt p train_fromdat:(fp =useach_ trams teach_ teach-stroke\n") xx /=bchar) NULL r ( if f (fp == else { fprintf(stdt p train_fromdat:(fp =un_fromdstroke\n") xx /=bchar) NULL r ( if (data->dime!>xseach_ trams ->ufm = cdata->dim= else { fprintf(stdt p train_fromdat:(misamts tenu* It_d tructs ofoents\n"); fprintf(stdebook vector dims:ntriesion: %d if (data->dimedim-1)seach_ trams ->ufm = cdata->dim=ke\n") xx /=bchar) NULL28; } ist_seordagt ((-1,rboste *caupd al*ufu.cara(tosense fise\n"*g fi when rstcrum *do(nosl_noject /* se ieculternufu.carac ection ist_seordagtmize etr *) m2*alloc(s ut)e_fillast_seordapoint last_seordapointane;; / data_f etr = rewind_enries *pics ion istntr; y_f etr = rewind_enries *pics */r mh riaslizas-ab ern epsps)YT * WKV 2031ectiionp); (; y_spetr !=voidle *((seordagtmnot_oneech = &* ; y,slast_seorda* 1e_file)) ==; i++) e fprintf(stdt p train_fromdat:(mot_oneet xx /=tencharowpage\n\n") xx /=bchar) NU} {{ last_seordargptr)); /* WKV 2031ectionon ist_seordagtmseordap.neon istntr; yp.neon data_f etr = next_entry(&p) {{ last_seordargptr)); /* WKV 2031ection xx /=blast->e(p0); * ----------------- ) andontaiimontaption functions ----------------a----- *a *nsion satetion functrieriae a self explanatota_efi3 */timont_stardatries(struct teach__ufu.caram*ch = &r(void(int)&seach_ trams ->stard_(intfree(( */timont_stopatries(struct teach__ufu.caram*ch = &r(void(int)&seach_ trams ->e= r(intfree(( *} /) andont_(int)tries(struct teach__ufu.caram*ch = &r(void xx /=bch = & trams ->e= r(int -xseach_ trams ->stard_(int(dn(0); * ------------esired functiong onta ,en ab " tOMatr ala----------a----- *eptr ind_q)eptr() * ----------- *ring. Rea truct leevel. nott%Boltoo fancy. ----see -rr, ) andont_se permpt " -rput_onee_ction ,en ab " howzation---- fiacthe ly-- /* CaRe. ---/ ma; eptr ind_qtries(struct teach__ufu.caram*ch = &r(void xx /=bch = & trams ->e urn(0)e); eptractiv a fu_l* in_ptries() * ---------------------Gom a ininx,ntseordnn alsnaeaorda' apper fotOMauffer ceduse 'rams ', ring. ReSRN-amoro alnactiv a fupl* insspicsd Pro'(fp, "',ries ingontapping1ot nse frope psf sinseordnn al " decthontapicsd Prries'(fp, "' " ei acgau peanwholbubt((esired fu,zas-pe psf sinba 'ms ov. ----ring. Refp =/cheaization ec; se n----dd = (feptractiv a fu_l* in_ptries(struct teach__ufu.caram*ch = &* y *ze ,seorda,ema; (fp, " *dTh suts o(t dimMAPDIST DIST_FUNCdistf >xseach_ trams ->motdist*codma; *l* in_ %deles *da l; ix, y,s i, y i->nex teach_pf (fp == 0lse { fprintf(std} /activ a fu_l* in_pt:(fp =utruct teach__ufu.carastroke\n") xx /=bchar) NULL r (seach_ trams *t (fp == else { fprintf(std} /activ a fu_l* in_pt:(fp =useach_ trams teach_stroke\n") xx /=bchar) NULL r (seach_ trams teach-bt (fp == else { fprintf(std} /activ a fu_l* in_pt:(fp =useach_ trams teach_ teach-stroke\n") xx /=bchar) NULL r (seordagt (fp == else { fprintf(std} /activ a fu_l* in_pt:(fp =useordnn alsstroke\n") xx /=bchar) NULL r (ms o (datEIGH_GAUSSIANe&& ms o (datEIGH_BUBBLE= else { fprintf(std} /activ a fu_l* in_pt:(unrecognnilgrts ontrieusontasion: dim-1)ts o*tEIGH_GAUSSIAN", ms o tatEIGH_GAUSSIAN) NULL r (teach.rxseach_ trams ->ufm = codes->xdyent->xseach_ trams ->ufm = codes->yc ra *( ordapoin< 0if (seordapoin> odes || igordapoin< 0if (seordap1ij>kyics->xdim) { fprintf(std} /activ a fu_l* in_pt:(et(): inx,ntseordnn als: ents\n"); fprintf(stded,%d, not data->dims:ntrision: %seordapoi, igordapoi,dim-1) i, y i=ke\n") xx /=bchar) NULL28; l* inss= ndd = (feptr *) m i*yd\n*alloc(s d - (parid (ms o t (tEIGH_GAUSSIAN"t dim end(y=0;iyxo + y---xdes-> deles->x2.0Cdistf(seordapoi, igordapoi,ix, y)/(fp, "; l* ins y1ot 760exp(deles*deles)age\n\n") } }; } else {nd(y=0;iyxo + y---xdes-> stf(seordapoi,igordapoi,x,n)if(d(fp, "neON)=l* ins y1ot-> } l* ins ytot = 0.0") } } L28; xx /=bl* ins->e(p0); g- /1* ins_byr ind_q)eptr() * -------------------ring. ReSRN amoro alnactiv a fupl* insspicsd Proe thei /* Caerms----appeams *ts ofof the ---/ ma; *g- /1* ins_byr ind_qtries(struct teach__ufu.caram*ch = &* y fp; struct data_enample* ma; toler *dih; i++DIST DIST_FUNCdistf >xseach_ trams ->dist*codma; *l* in_ %deles* ;mon* ;max *da l; ix, y,s i, y i %d\n=seach_ trams ->ufm = cdata->dim,s,seorda->y fp; struct data_ets of->nex teach_pf (fp == 0lse { fprintf(std} /1* ins_byr ind_q):(fp =utruct teach__ufu.carastroke\n") xx /=bchar) NULL r (seach_ trams *t (fp == else { fprintf(std} /1* ins_byr ind_q):(fp =useach_ trams teach_stroke\n") xx /=bchar) NULL r (seach_ trams teach-bt (fp == else { fprintf(std} /1* ins_byr ind_q):(fp =useach_ trams teach_ teach-stroke\n") xx /=bchar) NULL r (toler *di TION)= 0lse { fprintf(std} /1* ins_byr ind_q):(It(): intoler *di trieusonta1EPSF-,dim-1)toler *dihke\n")toler *di = 1ot = 0}) j,went->xseach_ trams ->ufm = codes->xdyent->xseach_ trams ->ufm = codes->; l* inss= ndd = (feptr *) m i*yd\n*alloc(s d - (paridseordagtmize eptr *) m2*alloc(s ut)e_fil//;mon = 100000.0ept/e This shoulargestepe pet((esd = (dasui'mulazy>a; mon = 3.40282347e+38Fgptr)); /* WKV 2003-07-28;max ytot = e {nd(y=0;iyxo + y---xdes-> 0.0")seordapoint x-> 0.0")seordapointay-> 0.0")ts ofo deptrts of_f the (seach_ trams teach-,seordarke\n"); l* ins y stf(nample*ts of, i=ke\n"); (S) ins <; mon); mon = S) ins ke\n"); (S) ins >8;max)8;max yS) ins ke\n") ;max -/ max- mon)* yd -toler *dihke\n) {{ seordargptr)); /* WKV 2003-07- e {nd(y=0;iyxo + y---xdes-> 0.0")l* ins y1ot - (S) ins - mon)/;max *da"); (S) ins <;0ON)=l* ins ytot = 0.0") (S) ins >8eON)=l* ins y1ot-> 0.0")l* ins *=)l* ins *yS) ins ke\n") ; xx /=bl* ins->e(p0 (); } /ms of_f the (tries() * ----------------ring. Rea a poins ergu* It data_le; sassoci algrctioaze its of model * nse frope psf sinx,ntseordnn alsnofnaeaorda' uffer ceduse cfitiontOMa se"Savs nOfhe ly-goptnnaby rams teach_ teach-)e nring. Refp =---- heaization ec; se ncros fp; struct data_e} /ms of_f the (tries(struct entries *sodes,seordar(void) { ILE *fp; struct data_ets of->da l; ilteex->nex each-bt (fp == else { fprintf(std} /ms of_f the (t:(fp =u if stroke\n") xx /=bchar) NULL r (seordagt (fp == else { fprintf(std} /ms of_f the (t:(fp =u ordnn alsstroke\n") xx /=bchar) NULL r ( ordapoin< 0if (seordapoin> ufm = codes > 0.0"|| igordapoin< 0if (seordap1ij>kufm = cyics->xdim) { fprintf(std} /ms of_f the (t:(et(): inx,ntseordnn als: ents\n"); fprintf(stded,%d, not data->dims:ntrision: %seordapoi, igordapoi,dim-1)ufm = codes,xufm = cyics-ri-i") xx /=bchar) NULL r teex =(seordapoin+(seordap1ij*xdim = codes-> ")ts ofo detr = rewind_enries *sentry(&end(i=0;in(0)e); addto_datries() * ------------- ss ergu* Ift_d associ algrctioaamruc' poseintf(e nCrnshouOftenappeboio----ts ofof the s nries t " u* If the t. ------- ss if ((associ algrctioats ofof the s.q----(see entry_.cction ,en fuplntry_)s()eAwi opJ- *11une 13 (Yee Lse Tan);efi3 */ addto_datries(struct enttriest dimiL; ip.ne L; lntrys ion) { ILE *fp; struct data_e; yp. data_f etr = rewind_enries *pics, &p); (; y!=fp == else ); splayc a euse el * ctiononend(i=0;idim;ioc; j ++) s pr%.3fe dn; y petr-> age\n} else ); splayc use_ensiel * ctionons pr wt:ntre dn; y use_e, else ); splaycmask associ algrctioael * check reg fio*vection * ( data maskc; j 0.0")s pr mask: ents\n")onend(i=0;idim;ioc; j ++) ) s pr%re dn; y mask rge\n} else ); splaycentry_s) check regtrieanyection * ( data patao_l=c; j 0.0")s pr entry: ents\n")onend(i=0;;ngth; i if ((lagel = get_entrys_= get, i)-> if ((!= LABEL_EMPTY) U) } ist 1); a ni if ((ar the fia wthsdLABEL_EMPTYecti ) s pr%se dnilter(find_co if(o_lab()-> } i ) bid\n") ") ")s prstroke\n") data_f etr = next_entr) } gn fup)), ergorev-el * ction s pr%retolopmawind_eon: %d if (pataawind_e)->e(p0); ring. Reze imask ar thefilter(epassoci algrctioaze i----rom a truct data_ries() wi opJ- *20une 13 (YT)acrosilter(} /mask "ini= next_tries(struct data_entryy,sit; ir(void xx /=b; y mask->e(p0); ring. Reze i if ((ar theassoci algrctioaze irom ariestruct data_aneraar thensitrionts.ries() wi opJ- *20une 13 (YT)acr Mr *) 'et(aizaxtrIftpot apper fofp =usa ponse fros d Pfsargc, c.ries() wi opJ-ly-22une 13 (); )acrosilter(*g- /1); "ini= next_tries(struct data_entryy,sit; patao_lry_)s dimiL; ide if (aridsrgc, co_labagomchar, *tri_ if ((lachar) * ( data patao_l=c; j 0.0// if (agtmno *) m data patao_l=*alloc(ssrgc*)age\n\n if (agtmno *) mm data patao_l=+1)*alloc(ssrgc*)age\n\nend(i=0;;ngth; i 0.0")lif ((lagel = get_entrys_= get, i)-> 0.0") (Sif ((!= LABEL_EMPTY) i } ist 1); a ni if ((ar the fia wthsdLABEL_EMPTYecti tri_ if ((lailter(find_co if(o_lab(;i if (s ytri_ if ( bid\n") ") } e if (s ychar) bid\n") ") xx /=b if (s->e(p0); * ------------------------as d Pfsa map* ---------------------------a---pyro/b and/psom/c sesrc/ set_k-dev/ sedevrobs.h0100755000076400003100000001324407712016012022313 0ustar dblankfaculty */r sedevrobs.hries() * -----------j- *14une 12----Dani ((Sprol Spsprol @sccs.swarthmndeeedu----headar apper sedevrobs.cries() * ------------------ * ----------/(0)e#ifteefntOM_DEVROBS_H #eefonrgSOM_DEVROBS_H e#include "Pd in .h"e#include "lvqet_k.h"e #eefonrgCYCLICwwww00.0//-apper and train_fromdatr#eefonrgargvid\n")10.0//-apper and train_fromdatr#eefonrgLINEARwwww00.0//-appese in con set_teach_ptr#eefonrgINVERSE_T)10.0//-appese in con set_teach_ptr#eefonrgtO_TRAINew00.0//-appe/ put_onee_e#eefonrgTRAINewn")10.0//-appe/ put_onee_er#eefonrgaEGULARwwww00.//-appe} /; g_rufu.carpt, } /; g_mufu.carptr#eefonrgCONSECewn")10.//-appe} /uf iec_rufu.carpt, } /uf iec_mufu.carptr#eefonrgMAX_CONSEC 20.//-appe} /maxuf iec_rufu.carpt, } /maxuf iec_mufu.carptr0); a xleva *eefoniaerms:rieslvqet_k.h: *#eefonrgTOPOL_HEXA *#eefonrgTOPOL_RECT *#eefonrgtEIGH_BUBBLE *#eefonrgtEIGH_GAUSSIAN a----- * a xleva *sired fun:riestruca ma.h: *tries(struct entnes = open_ensrgc, t fi)-> * */()ose= open_entries(struct entawind_e)-> *iL; ) open_entries(struct entries *ssrgc, tf(_ries_a ma)-> *iL; ) open_e_wcomevel_ptries(struct entries * *eeeeeeeeeeeeeeeeeeeeeeeeeeesrgc, tf(_ries_a ma*ssrgc, comevel_)-> r s,o* .h: *tries(struct entlndonit_ries_ptries(struct entries *iL; ides-, *eeeeeeeeeeeeeeeeeeeeeeeeeee *iL; us of,d l; i, l; yics-ri- *tries(struct ent inionit_ries_ptries(struct entries *iL; ides-, *eeeeeeeeeeeeeeeeeeeeeeeeeee **iL; us of,d l; i, l; yics-ri- ---- tiontries(ude(oo holdize irams teachfia ontsidrom u.caraenough t, "M----angr) andont.acrosfp; struct teach__ufu.caram{ im) { struct teach_ * setge\n)neig"ten ut rufu.cara- /--3(o andontaufu.caramy wrningnSavection)neig"ten ut mufu.cara- /--3(t t, "Maufu.caramy wrningnSavection l; ;fu.cara_went-ppppppppptr)); /* WKV 2003-07-28 l; ;fu.cara_yent-ppppppppptr)); /* WKV 2003-07-}) ( *writ open_entries(struct entries *ssrgc, tf(_ries_a ma)-> */ vo_globays_ *)->) { *g- /) { _ *)-> */ void) { _) { *rgptr)); /* WKV 2003a----- *---------------------au* Ift_d a set manipulation functions ----------------tries(struct ent ur, "init_dait; ir-> */ voidaddto_datries(struct entr->it; with addto_dafp; struct entries *dries(struct data_entryyr->fp; struct data_et ke "ini= next use_ed/maskedndd = (fpetr->* y fTh su use_ *dTh su*mask* y it; i,dsrgc, co_labr-> */ voidaddt= next_tries(struct data_er->fp; struct data_et ke "ini= nextndd = (fpetr->e, e- *---------------------a if ((a set manipulation functions ---------------//i *} /1); "ini= next_tries(struct data_entryy,ssrgc, co_labr-> */ wi/1); "ini= next_tries(struct data_entryy,ssrgc, co_labr-> */cla r if (s "ini= next_tries(struct data_entryye, e- *------------------e) andontase permi some inianipulation functions ---------tries(struct teach__ufu.caram*se in con set_teach_ptries(struct entries * epspdTh sualpha_ts o, epspdTh su(fp, "_ts o(ts */ void set_teach_ptries(struct teach__ufu.caram*r->it; inr, ) andont_se permptries(struct teach__ufu.caram*ch = &* yma; alpha_0,yma; (fp, "_0,y) { long * y) { f\n", _r = owr;s *} up_snap)Thcptries(struct teach__ufu.caram*ch = &* es */ cnapeboo_prefix,y) { -ranp():(, e- *------------------- ufu.car a set manipulation functions --------------- */ voup_ufu.cara(tries(struct teach__ufu.caram*ch = &r;3 */ voidufu.cara(tries(struct teach__ufu.caram*ch = &r;3 */upd al*ufu.cara(uneig"ten ut ufu.cara*codes,; p_seorda, epspsodes,last_seordar; s *} /; g_rufu.carptries(struct teach__ufu.caram*ch = &* odes,seordar;s *} /uf iec_rufu.carptries(struct teach__ufu.caram*ch = &* odes,seordar;s *} /maxuf iec_rufu.carptries(struct teach__ufu.caram*ch = &* odes,seordar;ss *} /; g_mufu.carptries(struct teach__ufu.caram*ch = &* odes,seordar;s *} /uf iec_mufu.carptries(struct teach__ufu.caram*ch = &* odes,seordar;s *} /maxuf iec_mufu.carptries(struct teach__ufu.caram*ch = &* odes,seordar;ss *} /ufu.carptries(struct teach__ufu.caram*ch = &* odes,seorda,e Th suts o* l; ;fu.car_" -s, e- *------------------e) andont/ammon maption functions ----------------a----odes,/ put_oneetries(struct teach__ufu.caram*ch = &* U) ) ) fp; struct data_enample* Th suts o* U) ) ) odes,last_seorda* l; upd al*ufu.car_flagr;s **not_oneetries(struct teach__ufu.caram*ch = &* U) ) fp; struct data_enample* U) ) odes,last_seorda* l; upd al*ufu.car_flagr;nodes,) and oneetries(struct teach__ufu.caram*ch = &* U) ) ) fp; struct data_enample* U) ) ) odes,last_seorda* l; upd al*ufu.car_flagr;s fp; struct data_e) and train_fromdatries(struct teach__ufu.caram*ch = &* U) ) fp; struct entries *dTh suts o(->fp; struct data_et p train_fromdatries(struct teach__ufu.caram*ch = &* U) tries(struct enttries, e- *------------------- ) andontaiimontaption functions ----------------a---- */timont_stardatries(struct teach__ufu.caram*ch = &r;( */timont_stopatries(struct teach__ufu.caram*ch = &r;( *} /) andont_(int)tries(struct teach__ufu.caram*ch = &r; (p0); * ------------esired functiong onta ,en ab " tOMatr ala----------a----ma; eptr ind_qtries(struct teach__ufu.caram*ch = &r;-dd = (feptractiv a fu_l* in_ptries(struct teach__ufu.caram*ch = &* y *ze ,seorda,ema; (fp, " *dTh suts o(; ma; *g- /1* ins_byr ind_qtries(struct teach__ufu.caram*ch = &* y fp; struct data_enample* ma; toler *dih->fp; struct data_e} /ms of_f the (tries(struct entries *sodes,seordar;3 */ addto_datries(struct enttries; (pilter(} /mask "ini= next_tries(struct data_entryy,sit; ir;silter(*g- /1); "ini= next_tries(struct data_entryy,sit; patao_lry_); (#s dnfptr)SOM_DEVROBS_Ha---pyro/b and/psom/c sesrc/ set_k-dev/ se,o* .c0100755000076400003100000005225007514701134021641 0ustar dblankfaculty/************************************************************************ *eeeeeeeeeeeeeeeeeeeeeeeeeee *************************************** Ptogachdpackagin' set_k':ee *************************************** *eeeeeeeeeeeeeeeeeeeeeeeeeee *************************************** se,o* .ceeeeeeeeeeeeeeeeee *************************************** -a,o* onessl_not_pibedomeg togachspibedomet_k************************ * Varaipul3.0 * Da * 1 Mar 1995 * * NOTE: Thing togachdpackaginingcopyruse_eduse ed ine ieizeate t * mayshouOftenappescintrific purposes.n];e ackaginanerawhole* or * ch ss erreof,atrnlets. scluded or Often usanyecomevrcial * appl canipulctio " writtnnaparmo permigra sinba oms toducvel_. * Nog togachspuffer ceduse cfing ackaginmayshoucopitenappecomevrcial * stribunipu. * * All comevel_1)uf*di/=ontathing togachdpackaginmayshoune tp)), erg * e-mail/ wiress 'lvq@cochlea.h* .fi'. * * / e#include e#include e#include e#include e#include e#include "lvqet_k.h"e#include " se,o* .h"e#include "truca ma.h"p0);tions -------------------------------------------------------------------tries(struct ent inionit_ries_ptries(struct entries *iL; ides-, iL; us of,d y * d l; i, l; yics- { im) { noc, ip.ne L; des-> 0tries(struct entries LE *fp; struct data_e; LE *fp; struct data_etava-, *miv ( bid) { ILE *) { compc.culachar) *noc->xodes * y i->nex ( each-btm-- c= open_en)_file)) == ") i++) e fprintf(std inionit_ries_:atrn'tm-- c alamemota_appecoif stroke\n")") xx /=bchar) NU} L & nt->xa if (data->dim; 1)ufm = cdata->dime= des-> 0ufm = cflags.a; dms o taLOADMODE_Aar) NUufm = codes =-xdes-> 0ufm = cyicsntaydes-> 0ufm = cides-gtm)des--> 0ufm = cus of_f et ofomize); -- c alaufm bookstruct entfile */ trucbtm-- c= opeynries t_file)) == ") i++) e fprintf(std inionit_ries_:atrn'tm-- c alamemota_appecoifbooksf the stroke\n")")()ose= open_enries tke\n")") xx /=bchar) NU} 0ufm = ctruct entr; = e {nd (i->x1; i <*noc; igth; ") i++) ; cusxtbtm-- c= opeynries t;i++) ; ntr; cusxt-> 0.0") trucbtle)) == bid\n}>nex (trucbtle)) == ") i++) e fprintf(std inionit_ries_:atrn'tm-- c alacoifbookstroke\n")")()ose= open_enries tke\n")") xx /=bchar) NU} > 0ufm = cuataawind_e_f eocke\n) */Fiet(ininmaxcsntructonim v (ulsnofnu* If07- e ( eampc.culano *) malloc(s) { (floics-_file)) == ") i++) e fprintf(std inionit_ries_:atrn'tm-- c alamemotastroke\n")")()ose= open_enries tke\n")") xx /=bchar) NU} > 0{nd (i->x0; i <*ent-pioc; j ++eampc.c yt-> ")tava-btm-- c= opeyntries; ")tiva-btm-- c= opeyntries; ") (!(tava-b&& miva-)= ") i++) ()ose= open_enries tke\n")")each-btmchar) NU) goposend) NU} 00000> 0{nd (i->x0; i <*e if (data->dim; ngth; i 0.0tava- petr-> ->xFLT_MIN; NU")tiva- petr-> ->xFLT_MAX = 0}) j, */ trucbtmetr = rewind_enries *pic_file)) == ") i++) e fprintf(std inionit_ries_:atrn'tmge strucstroke\n")")()ose= open_enries tke\n")")each-btmchar) NU) goposend) NU} &p); (trucbspetr != ") i++) end (i->x0; i <*ent-pioc; > (!((; cmask spetr != ECT); cmask -!((ec)= ") i j ++eampc.c .0") tava- petr-> - a U) ) )tava- petr-> ->x; cpetr-> .0") tiva- petr-> ->r; cpetr-> a U) ) )tiva- petr-> ->x; cpetr-> .0 ") rucbtmetr = next_entry(&} > 0{nd (i->x0; i <*ent-pioc; j ++ eampc.c ((eci++) e fprintf(std inionit_ries_:awa/=ont!+eampone tp%dahassno ries *usonta0EPSF-,mize )(i-+ 1e_ke\n) */Rinit_lloion of the v (ulsn07- e trucbtmetr = rewind_enries *sentry(&p); (trucbspetr != i++) end (i->x0; i <*ent-pioc; j 0.0")i eampc.c >(ec ; cpetr-> ulaniva- petr-> -+j 0.0"))))) tava- petr-> --aniva- petr-> (flo(= d - (fora d() / 32768.0t;i++) ;lse ; cpetr-> ulatot = 0.0 sla r = get_entrys_= geoke\n") dat_f etr = next_entry(&p) send: ")i eampc.cci++) {{ sempc.ccry(&evoid)next_miva-)ry(&evoid)next_ma():(, e") xx /=nries tkee(p0);tions ------------------------------------------------------------------- */norm inilndd = (fv, iL; u- { imdd = (sum=tot = 0iL; j = e {nd (j=0;ij 0{nd (i=0;iidim; 1)dd = (fr=ndd = etr *) mn*n*alloc(s d - (par) {d = (fm=ndd = etr *) mn*alloc(s d - (par) {d = (fu=ndd = etr *) m2*n*alloc(s d - (par) {d = (fv=ndd = etr *) m2*n*alloc(s d - (par) {d = (mup2] bidfp; struct data_e { , *tmp*codma; fum->da l; ijLE *) { k2, k bid) { ILE *ilter(mask->ile */ r==fp =if (m==fp =if (u==fp =if (v==fp =i) goposev ur> 0{nd (i=0;ii 0{nd (k=0;ipucbspetr !; k++,ipuc=etr = next_ent= ") i++) mask =ipuc mask->++) end (i=0;ii ((!maskc;f ((mask ECT)mask -=((ec)= ") i j ++m +=p cpetr-> ); t sked+eampone tsahavoion of (ul 0*do(on y U) ) don'tm-ffecse fropum cti ) k2 .0}r } > 0 (k<3) goposev ur> 0{nd (i=0;ii 0{{ k2); k2ulachar) * / { =etr = rewind_enries *pic_file)) == ") i++) e fprintf(stdiltert oenf the s:atrn'tmge strucstroke\n")")goposev ur } > 0{nd (;ipucbspetr !; puc=etr = next_ent= ") i++) mask =ipuc mask->++) end (i=0;ii { U) } ininsempone tsazeatetriet sked+offetrieignort_p fi ") task ECT)mask -!((ec)i j ++eantinue .0{nd (j=i;ij -m )*(p cpetr-> j -m j rge }r } > 0{nd (i=0;ii 0{nd (i=0;ii<2-pioc; j 0.0{nd (j=0;ij 0.0norm inilnu+i*n, ntry(& (mup =1ot = 0}) j,{nd (k=0;ik<10; k++= i++) end (i=0;ii<2-pioc;e\n"); {nd (j=0;ij 0 memcpy(u, v, 2*n*alloc(s d - (par) > 0 (mup0]==l] if (mup1]==l] ) goposev ur\n) pat_f tmpbtm-- c= opeyntries; ")temcpy(tmp cpetr->, m, n*alloc(s d - (parile{nd (i=0;ii<2-pioc; j 0.0tmp cetr =-- c= opeyntries; ").0tmp=tmp cetr ; j ++ tmpbtle)) == ")") i e fprintf(stdiltert oenf the s:atrn'tm-- c alaf the stroke goposev ur } .0}r } temcpy(tmp cpetr->, u+n*i, n*alloc(s d - (par.0; {nd (j=0;ij[j]/=foat)mup try(&p) tmp cetr ulachar) *o{{ vtry(&o{{ utry(&o{{ mtry(&o{{ rpar) xx /=b(p parilev : ")i v!=fp == o{{ vtry(&i u!=fp == o{{ utry(&i m!=fp == o{{ mtry(&i r!=fp == o{{ rpar) xx /=b(fp ==ari}--tries(struct entlndonit_ries_ptries(struct entries *iL; ides-, iL; us of,d y * l; i, l; yics- { im) { i, number_of_ries LE *it; index, des-> 0ma; xf, yfLE *fp; struct data_eteam,s,t oen1,s,t oen2,_e; LE *fp; struct entries LE *) { ILEE *number_of_ries ->xodes * y i->nex ( each-btm-- c= open_en)_file)) == ") i++) e fprintf(stdCrn'tm-- c alamemota_appecoif stroke\n")") xx /=bchar) NU} L & nt->xa if (data->dim; 1)ufm = cdata->dime= des-> 0ufm = cflags.a; dms o taLOADMODE_Aar) NUufm = codes =-xdes-> 0ufm = cyicsntaydes-> 0ufm = cides-gtm)des--> 0ufm = cus of_f et ofom 0ufm = cuataawind_e_f eumber_of_ries LE */Fiet(ininmiddle data angr)wose oenf the s*nsion nu* If07-} tean(lailtert oenf the satries; ") (tean(l (fp == else { fprintf(stdlndonit_ries_: Crn'tmiltese oenf the sstroke\n")()ose= open_enries tke\n") xx /=bchar) NULL rt oen1ulanean cetr ; j t oen2->x; oen1 cetr ; ze); -- c alaufm bookstruct entfile */ trucbtm-- c= opeynries t_file)) == ") i++) e fprintf(stdlndonit_ries_: trn'tm-- c alamemota_appecoifbooksf the stroke\n")")()ose= open_enries tke\n")") xx /=bchar) NU} 0ufm = ctruct entr; = e {nd (i->x1; i <*number_of_ries L igth; ") i++) ; cusxtbtm-- c= opeynries t;i++) ; ntr; cusxt-> 0.0") trucbtle)) == bid\n}>nex (trucbtle)) == ") i++) e fprintf(stdlndonit_ries_: trn'tm-- c alacoifbookstroke\n")")evoid)nexts(teanoke\n")")()ose= open_enries tke\n")") xx /=bchar) NU} > 0); Isome inil ss tOsoms filetrucbtmetr = rewind_enries *sentry(& teex =(0ry(&p); (trucbspetr != i++) xf >x4.0flo( d - (f(lteex %xx ir(/ m i -8eON)=-x2.0) NU} yf >x4.0flo( d - (f(lteex /xx ir(/ my i -8eON)=-x2.0) = 0 0{nd (i->x0; i <*ent-pioc; j 0.0"); cpetr-> ulanean cpetr-> uj 0.0")))))))))))+ xf *x; oen1 cpetr-> -+ yf *x; oen2 cpetr-> } .0}r } sla r = get_entrys_= geoke ) ; ntretr = next_entry(&} lteex ycrn; evoid)nexts(teanoke ") xx /=nries tkee(p0);tions -------------------------------------------------------------------ma; hexa_ stait; bx, l; by,sit; tx, l; ty- { imdd = (rmd,e hav; L & nff >xbx=-xtx->nex ( (by=-xty) %x2)-!((ec(voidle * (by=%x2)-=((ec(voidle & nff - (e.5 } .0}r } } else / nff + (e.5 } .0}r ; xxe= defffloicffLE * nff >xby=-xtyar) xx + (e.75floicfffloicffLE * xxe= ( d - (ffoat) sqrt((do xxoke ") xx /=n xxoke}--ma; r th_ stait; bx, l; by,sit; tx, l; ty- { imdd = (rmd,e hav; L & nff >xbx=-xtx-> xxe= defffloicffLE * nff >xby=-xtyar) xx + (icfffloicffLE * xxe= ( d - (ffoat) sqrt((do xxoke ") xx /=n xxoke}--); Adaptanipulation funappebubt((-et ofborhooda---- */bubt((_adaptp) { struct teach_ * set *dries(struct data_enample* epit; bx, l; by,sma; (fp, " *ma; alpha- { im) { iteex-> sit; tx, ty,s i, y i-> *fp; struct entries gtm)ams teach--> *MAPDIST DIST_FUNCdistgtm)ams tmotdist*coddries(struct data_eeachtmp*codVECTOR_ADAPT *adaptgtm)ams tf the _adaptLE *) { ILEE *odes =-ufm = codes->xdyent->xufm = codes->yc ra *v bose(1eci++) e fprintf(stdBesteamts use triesion: %bx, byoke ")eachtmpbtmetr = rewind_enries *sentry(& teex =(0ry(&y(&p); (eachtmpb!le)) == ") i++) tx =(lteex %xx ike\n")")ty =(lteex /xx ike\n")")> 0.0") stabx, by, tx, ty)if(d(fp, "c; j i*v bose(11)i j e fprintf(stdAdapttOsom triesion: %tx, ty)ke adaptpeachtmp, nample* ufm = cdata->dim,salpha-, else ( ") eachtmpbtmetr = next_entry(&} } lteex yc ( e(p0); Adaptanipulation funappegau peanwet ofbourhooda---n")")> */gau pean_adaptp) { struct teach_ * set *dries(struct data_enample* epepit; bx, l; by,sma; (fp, " *ma; alpha- { im) { iteex-> sit; tx, ty,s i, y i-> *dd = (dd-> *dd = (alp-> *fp; struct entries gtm)ams teach--> *MAPDIST DIST_FUNCdistgtm)ams tmotdist*codVECTOR_ADAPT *adaptgtm)ams tf the _adaptLE *dries(struct data_eeachtmp*cod) { ILEE *odes =-ufm = codes->xdyent->xufm = codes-> ra *v bose(1eci++) e fprintf(stdBesteamts use triesion: %bx, byoke ")eachtmpbtmetr = rewind_enries *sentry(& teex =(0ryy(&p); (eachtmpb!le)) == ") i++) tx =(lteex %xx ike\n")")ty =(lteex /xx ike> 0.0") v bose(11)i e fprintf(stdAdapttOsom triesion: %tx, ty)kelse / d y stabx, by, tx, ty)ke> 0.0")alpbtm--pha * ( d - (fexp( sqrt((do(- d */ d / m2.0flo(fp, "elo(fp, "))age\n\n")> 0.0")adaptpeachtmp, nample* ufm = cdata->dim,salp)ke> 0.0")eachtmpbtmetr = next_entry(&} } lteex yc ( e(p0); se) andonta- ) and auSOM. Rfp, "ension net ofborhoodadecriass g yc lnda rlyappingon n some iof (ul toio*veaet(ininla rdontateach parg yc decriass glnda rlyappingi euseome iof (ul toizero.-----tries(struct ent se) andontp) { struct teach_ * set- { yctEIGH_ADAPT *adapt ycWINNER DIST_FUNCilterr =ner =c)ams tr =ner ycALPHA DIS(feptra-pha =c)ams talpha_atio-> sit; ike\nit; bxlte, byind-> *dd = ( use_-> *dd = () ae, talp-> *fp; struct data_enample-> *fp; struct ent if fc)ams t if-> *fp; struct entries gtm)ams teach--> *) { l, long gtm)ams t long -> *dd = (alpha =c)ams talpha-> *dd = ((fp, "e= )ams t(fp, "; *fp; ssnap)Thc_ ,en cnape= )ams tsnap)Thc; *fp; sr =ner_ ,en r =_ ,en*cod) { ILEE * */ sptrdomet_ach_p set-= ") i++) e fprintf(std se) andont: trn'tmt_d tOMateach par stroke\n")") xx /=bchar) NU} L &adaptgtm)ams tet of_adaptLEnex ( namplebtmetr = rewind_enries *pic_file)) == ") i++) e fprintf(std se) andont: trn'tmge strucstroke\n")") xx /=bchar) NU} L & nt->xufm = cdata->dim; ") ( if (data->dime!>xics- ") i++) e fprintf(stdufm data->dim (%d)-!(( if data->dim (%d)SF-,dim-1) i,d if (data->dimoke\n")") xx /=bchar) NU} L &(int)&rams ->stard_(intfre 0{nd (lebtm0; li (namplebtle)) == ") i j ++e fprintf(std se) andont: this n'tmetr = s if (%ld/%ldgi er a funcdo*v)SF-, l, long ) .0 xx /=bchar) .0 ") > 0 use_e=inample use_, else ); Rfp, "edecriass glnda rlyatoio*vection *) ae y1ot + (teach.r-8eON)=lo( d - (f( long g- ((do/o( d - (f long ->ion *)alpbtmeptra-pha( l, long ,salpha-, else ); Ision nnamplebis use_ed, ") uts ifys erg andontar alado(on= ( ms ievoion or mh effecseas ") urepeatontath nnampleb' use_'&(intsection * ( use_e>;0ON)=ECT)use use_s(-1))c(voidle &)alpbtm1ot - ( d - (fpow( sqrt((do(1ot - )alp), sqrt((do use_e, ") > 0 */Fiet(ininbesteamts uction *); Isifixed data angr fia lowet(inin Oft(on= (f (ul ction * (nample fixed spetr != ECT)use fixed(-1))c(voidle &); Getion of (ulsappingfixed-sries(ude(---n")") bxltee=inample fixed->xfixke\n")")byinde=inample fixed->yfixke\n")}r } } e> 0.0") ilterr =nernries *snample* &r =_ ,en* 1e ((eci { U) v bose(3)i j ++e fprintf(stdignorontaempty namplebsion: %ma)-> ")goposskipd set ); ignortaempty namplesecti }-n")") bxltee=ir =_ ,en.lteex %xufm = codes->xd")")byinde=ir =_ ,en.lteex /xufm = codes->xd") > 0 */Adapttss tOsoms file")adaptp set *dample* bxlte, byind,() ae, talp-, elsskipd set:> 0 */) ssnap)Thc&p)ensl_not_pction * (nnap= ECT)(leb%ssnap->-ranp():(-=((ec(ECT)le >(ec= ")") i v bose(2)i j e fprintf(stdSavontasnap)Thciesldgi er a funon: %ma)-> (nave_snap)Thcp set *ma)= ") i j ++e fprintf(std nap)Thc&fa mad,+eantinuontat setontstroke .0 ") > 0 v bose(1= ")")m (s) { (f( long -ma)=) NULL r(int)&rams ->e= r(intfre v bose(1= "){ ")")m (s) { (f0t;i++) e fprintf(stdstroke\n") xx /=nries tkee(p0);tions ------------------------------------------------------------------- */ilterf\n", - - /* CaR quantiianipul\n", .a----ma; ilterf\n", p) { struct teach_ * set- { *dd = (q ur fp; struct ent if fc)ams t if-> *fp; struct entries gtm)ams teach--> *WINNER DIST_FUNCilterr =ner =c)ams tr =ner ycfp; struct data_edtmp*codfp; sr =ner_ ,en r =_ ,en*cod) { ILEne L; llong _known-> *) { nodLEE * */ sptrdomet_ach_p set-= ") i++) e fprintf(stdilterf\n", : trn'tmt_d tOMateach par stroke\n")") xx /=b-1) NU} > 0); Strn*a *truct datilsn07- e f\n", latot = 0 (dtmpbtmetr = rewind_enries *pic_file)) == ") i++) e fprintf(stdilterf\n", : trn'tmge strucstroke\n")") xx /=b-1ot-> 0.0}) j, */ llong _known->xa if (flags.totllo_known-= ")nod->xa if (uataawind_e*cod)lse ")nod->x0re 0{nd (; dtmpb!le)) =; dtmpbtmetr = next_ent= ") i++) ilterr =nernries *sdtmp, &r =_ ,en* 1e ((eci eantinue ); ignortaempty f the s*---n")") -n")") f\n", +=ffoat) sqrt((dor =_ ,en.icffage\n\n")> 0.0") llong _known)j i*v bose(1= ")m (s) { (fnod---, else }) j, */ llong _known)j 0 v bose(1= ")") i m (s) { (f0t;i e fprintf(stdstroke\n")") ; xx /=(f\n", )kee(p0dd = (bubt((_f\n", p) { struct teach_ * set *dries(struct data_enample* epeit; bx, l; by,sma; (fp, "- { im) { iteex-> sit; tx, ty,s i, y i-> *fp; struct entries gtm)ams teach--> *MAPDIST DIST_FUNCmdistgtm)ams tmotdist*codDIST DIST_FUNCdist *di = rams ->dist*coddries(struct data_eeachtmp*cod) { ILE *dd = (d,(q ur *odes =-ufm = codes->xdyent->xufm = codes->yc ra *v bose(1eci++) e fprintf(stdBesteamts use triesion: %bx, byoke ")eachtmpbtmetr = rewind_enries *sentry(& teex =(0ry(&f\n", latryy(&p); (eachtmpb!le)) == ") i++) tx =(lteex %xx ike\n")")ty =(lteex /xx ike\n\n")> 0.0") m stabx, by, tx, ty)if(d(fp, "c; j i*v bose(11)i j e fprintf(stdAdapttOsom triesion: %tx, ty)ke d y st *dipeachtmp, nample* ufm = cdata->dim)ke ); -ssumt(on= (alpha =c1ot cti f\n", +=fd*d, else ( ") eachtmpbtmetr = next_entry(&} } lteex yc ( ) xx /=b(f\n", )kee(p0dd = (gau pean_f\n", p) { struct teach_ * set *dries(struct data_enample* epepeit; bx, l; by,sma; (fp, "- { im) { iteex-> sit; tx, ty,s i, y i-> *dd = (dd-> *dd = (alp-> *fp; struct entries gtm)ams teach--> *MAPDIST DIST_FUNCmdistgtm)ams tmotdist*codDIST DIST_FUNCdist *di = rams ->dist*coddries(struct data_eeachtmp*cod) { ILE *dd = (d,(q ur *odes =-ufm = codes->xdyent->xufm = codes-> ra *v bose(1eci++) e fprintf(stdBesteamts use triesion: %bx, byoke ")eachtmpbtmetr = rewind_enries *sentry(& teex =(0ry(&f\n", lat.0ryy(&p); (eachtmpb!le)) == ") i++) tx =(lteex %xx ike\n")")ty =(lteex /xx ike> 0.0") v bose(11)i e fprintf(stdAdapttOsom triesion: %tx, ty)kelse / d ym stabx, by, tx, ty)ke> 0.0")alpbtmexp( sqrt((do(- d */ d / m2.0flo(fp, "elo(fp, "))age\n\n")> 0.0")d y st *dipeachtmp, nample* ufm = cdata->dim)ke-n")") f\n", +=falpb*/ b*/ ke> 0.0")eachtmpbtmetr = next_entry(&} } lteex yc ( ) xx /=b(f\n", )kee(p */ilterf\n", 2 - - /* CaR quantiianipul\n", n usaoicffere tpway.a----ma; ilterf\n", 2p) { struct teach_ * set- { *dd = (q ur fp; struct ent if fc)ams t if-> *fp; struct entries gtm)ams teach--> *WINNER DIST_FUNCilterr =ner =c)ams tr =ner yctEIGH_QERRORntr /_q ur fp; struct data_edtmp*codfp; sr =ner_ ,en r =_ ,en*codit; bxlte, byind, llong _known-> *) { nodLE *dd = ((fp, "e= )ams t(fp, "; *) { ILEE * */ sptrdomet_ach_p set-= ") i++) e fprintf(stdilterf\n", 2: trn'tmt_d tOMateach par stroke\n")") xx /=b-1) NU} > 0); selecseet ofborhooda---++ tams ->ufm = cus of_f=gtEIGH_GAUSSIAN= ") i++) v bose(3)i e fprintf(stdqms o 1,egau peanwet ofbourhoodstroke\n")")( /_q btmeau pean_f\n", yc ( ) )lse ") i++) v bose(3)i e fprintf(stdqms o 1,ebubt((wet ofbourhoodstroke\n")")( /_q btmbubt((_f\n", ) NU} > 0); Strn*a *truct datilsn07- e f\n", latot = e dtmpbtmetr = rewind_enries *pic;) j, */ llong _known->xa if (flags.totllo_known-= ")nod->xa if (uataawind_e*cod)lse ")nod->x0re 0{nd (; dtmpb!le)) =; dtmpbtmetr = next_ent= ") i++) ilterr =nernries *sdtmp, &r =_ ,en* 1e ((eci eantinue ); ignortaempty f the s*---i++) bxltee=ir =_ ,en.lteex %xufm = codes->xd")")byinde=ir =_ ,en.lteex /xufm = codes->xd")) -n")") f\n", +=f( /_q p set *dtmp, bxlte, byind, (fp, ")ge\n\n")> 0.0") llong _known)j i*v bose(1= ")m (s) { (fnod---, NU} > 0 */ llong _known)j 0 v bose(1= ")") i m (s) { (f0t;i e fprintf(stdstroke\n")") ; xx /=(f\n", )kee(pMAPDIST DIST_FUNC} /map stf(iL; ides-- { *MAPDIST DIST_FUNCdist, elsswits u(ides-- ") i++) casrgTOPOL_RECT:> 0.0")distgtmr th_ st->xd")")b bid\ncasrgTOPOL_HEXA:> 0.0")distgtmhexa_ st->xd")")b bid\ncasrgTOPOL_LVQ:> 0.0default:> 0.0")distgtmchar) NU) bid\n}>") xx /=b st->e(ptEIGH_ADAPT *} /nadaptf(iL; et of- { *tEIGH_ADAPT *nadaptLEnexswits u(et of- ") i++) casrgtEIGH_GAUSSIAN:> 0.0")nadaptgtmgau pean_adapt->xd")")b bid\ncasrgtEIGH_BUBBLE:> 0.0")nadaptgtmbubt((_adapt->xd")")b bid\ndefault:> 0.0")nadaptgtmchar) NU) bid\n}>>") xx /=bnadaptLEe(p */sptrdomet_ach_ - t_d sired funcl_not_pbys ergtOMaalgorithm se cfiti struct teach_ sries(ude(---s *} rdomet_ach_p) { struct teach_ *ch = &r { imi (!teach_ tmap st; j ++ (teach_ tmap stbtmeptrmap stf(teach_ tides--)btle)) == ")") xx /=b1ri> 0i (!teach_ tet of_adapt; j ++ (teach_ tet of_adaptbtmeptrnadaptf(teach_ tet of-)btle)) == ")") xx /=b1ri> 0 xx /=b0ry} pyro/b and/psom/c sesrc/ set_k-dev/ se,o* .h0100755000076400003100000000462007506137347021656 0ustar dblankfaculty#ifteefntOM_ROUT_H #eefonrgSOM_ROUT_H /************************************************************************ *eeeeeeeeeeeeeeeeeeeeeeeeeee *************************************** Ptogachdpackagin' set_k':ee *************************************** *eeeeeeeeeeeeeeeeeeeeeeeeeee *************************************** se,o* .heeeeeeeeeeeeeeeeee *************************************** --headar a; {nd tOMa,o* oness************************************** * Varaipul3.0 * Da * 1 Mar 1995 * * NOTE: Thing togachdpackaginingcopyruse_eduse ed ine ieizeate t * mayshouOftenappescintrific purposes.n];e ackaginanerawhole* or * ch ss erreof,atrnlets. scluded or Often usanyecomevrcial * appl canipulctio " writtnnaparmo permigra sinba oms toducvel_. * Nog togachspuffer ceduse cfing ackaginmayshoucopitenappecomevrcial * stribunipu. * * All comevel_1)uf*di/=ontathing togachdpackaginmayshoune tp)), erg * e-mail/ wiress 'lvq@cochlea.h* .fi'. * * / e#include "lvqet_k.h"e " -eefndd = (tEIGH_QERRORp) { struct teach_ * set y fp; struct data_enample* epeit; bx, l; by, epema; (fp, "-;--tries(struct ent inionit_ries_ptries(struct entries *iL; ides-, iL; us of,d l; i, l; yics-;-tries(struct entlndonit_ries_ptries(struct entries *iL; ides-, iL; us of,d l; i, l; yics-;- */norm inilndd = (fv, iL; u-;0dd = (dot todndd = (fv, dd = (fw, iL; u-;( *gach_schmidtndd = (fv, iL; u, iL; e-;pMAPDIST DIST_FUNhexa_ st,mr th_ st,NC} /map stf(iL;-;ptEIGH_ADAPT bubt((_adapt,mgau pean_adapt, *} /nadaptf(iL;-;-tries(struct ent se) andontp) { struct teach_ * set-;-ma; ilterf\n", p) { struct teach_ * set-;-ma; ilterf\n", 2p) { struct teach_ * set-;ptEIGH_QERRORnbubt((_f\n", ,meau pean_f\n", *} rdomet_ach_p) { struct teach_ *ch = &r; (#s dnfptr)SOM_ROUT_Ha---pyro/b and/psom/c sesrc/ set_k-dev/testedevrobs.c0100755000076400003100000001666607712016012022502 0ustar dblankfaculty } iestedevrobs.cries() * ------------a few iestnction erg,o* onessibedomedevrobs.c--/(0)e#include e#include e#include e#include e#include "lvqet_k.h"e#include " se,o* .h"e#include "truca ma.h"p#include "lntrys.h"ptr)); /* WKV 2003-07-e#include " sedevrobs.h"e -s *main(c(void//) { struct teach_ *ch = &*codfp; struct teach__ufu.caram*ch = &gptr)); /* WKV 2003-07-28tries(struct entries *s* if-> *fp; struct data_e/ put,, tf(put,, nample-> *ma; petr-> 5 ula{13.57, 12.61,b-1o38,b-1o99, 399.77}-> *ma; petr->1 5 ula{19.58,b13.08,b-1o17, -0.84, 400.03}-> *ma; petr->2 5 ula{29.36, 38.69,b-1o10, -0.87, 405.21}-> *ma; petr->3 5 ula{19.82, 27.08,b-2.35,b-3.70, 404.86}-> *dTh sutask 5 ula{0, 0, 1, 0, 1}-> *ilter(in "ini=a; = "ex."in",r(in ries_a ma = "ex.rie"-> *ilter(tf(_ries_verify1ula"iest1_verify.rie"-> *ilter(tf(_ries_a ma1ula"iest1.rie"-> *ilter(tf(_ries_a ma2ula"iest2.rie"-> *//i *,seorda,eidej, \n", ) NUi *,seorda,e,last_seorda* dej, \n", )ptr)); /* WKV 2003-07-28dd = (f1* ins-> *dd = (alpha =c0.02,((fp, "e= 4ot-> 0) { rlen->x5000, \win->x100) NUi *ent->x5-> *iltersysdo[* W]*cod) { ILE *dd = ((fp, "2,_e; inge; ze)/*} s globayateach par . iathinkathingincl_cessary...> *dvo_globays_)ke fp"iestontateckagindomedevrobs.c:\nstroke iest1: fp" iest 1:g andontapping if a ma angrufm a ma:stroke\n)/*open- if angrufm a mas if fcopenrewind_enin "ini=a; s; ") ( if fpetr != i++) fp" g if a ma %s this lets. openad,+abinit=ontatest 1SF-,dim-1in "ini=a; s; ")")goposiest2) NULL rries gtmopenrewind_enin ries_a mas; ") (ries gtpetr != i++) fp" gufm a ma %s this lets. openad,+abinit=ontatest 1SF-,dim-1in ries_a mas; ")")goposiest2) NULL rteach_ >xuf in con set_teach_pries *sLINEAR*sLINEARs; ") (teach_ >petr != i++) fp" gufis letscriatestruct teach_,+abinit=ontatest 1SF-s; ")")goposiest2) NULL rinr, ) andont_se permpteach_,+alpha, (fp, " *rlen, \wins; ")timont_stardach = &r; ) and train_fromdateach_,+ries *CYCLICs; ")timont_stopach = &r; fp" g) andontase permisemple_eduse %*/ vuf dnon: % *} /) andont_(int)ch = &rr; fp" gresultontaquantiianipul\n", : %fon: %eptr ind_qch = &rr; \n", lanave_ewind_enries *stf(_ries_a ma1s; ") (\n", ) fp" gufis letscriatesa ma %son: %tf(_ries_a ma2)*cod)lse fp" gresultontaufm a ma navedp)),%son: %tf(_ries_a ma2)*c / void set_teach_pch = &r;ptr)); /* WKV 2003-07-28()ose= open_enries tke\n()ose= open_entries; ") fp" grundontasom-t_k*ufm ae verif canipu:stroke\ns fprysdo* U)"./vsom -dse %s -cse %s -c " %s -rlen-%*/-alpha %f -rfp, "e%fon: Uin "ini=a; ,1in ries_a ma %tf(_ries_verify1 *rlen, alpha, (fp, "oke\nsystemprysdor; fp" gsemptrie%s angr%s )),verify accuracyensioest 1SF-,dimtf(_ries_a ma1 %tf(_ries_verify1)*c / fp" g)est 1isemple_ed\nstroke e iest2: fp" iest 2:g andontapping if a ma* ufm =useome inildapping if:stroke\n)/*open- if a ma if fcopenrewind_enin "ini=a; s; ") ( if fpetr != i++) fp" g if a ma %s this lets. openad,+abinit=ontatest 2SF-,dim-1in "ini=a; s; ")")goposiest3) NULL rries gtm inionit_ries_pries *TOPOL_HEXA,gtEIGH_BUBBLE, 12, 8r; each_ >xuf in con set_teach_pries *sLINEAR*sLINEARs; ") (teach_ >petr != i++) fp" gufis letscriatestruct teach_,+abinit=ontatest 2SF-s; ")")goposiest3) NULL rinr, ) andont_se permpteach_,+0.02,(4ot,x5000, 25s; ")timont_stardach = &r; ) and train_fromdateach_,+ries *CYCLICs; ")timont_stopach = &r; fp" g) andontase permisemple_eduse %*/ vuf dnon: % *} /) andont_(int)ch = &rr; fp" gresultontaquantiianipul\n", : %fon: %eptr ind_qch = &rr; \n", lanave_ewind_enries *stf(_ries_a ma2s; ") (\n", ) fp" gufis letscriatesa ma %son: %tf(_ries_a ma2)*cod)lse fp" gresultontaufm a ma navedp)),%son: %tf(_ries_a ma2)*c /()ose= open_enries tke\n()ose= open_entries; ") void set_teach_pch = &r;ptr)); /* WKV 2003-07-28 fp" g)est 2isemple_ed\nstroke esiest3: fp" iest 3: a; drries gppingfima* uriates if t_d dynam cally,SF-s; ") fp" gggggggg) and ergtOMaa few iints, a;okeaseactiv a fu 1* ins:stroke\nries gtmopenrewind_enin ries_a mas; ") (ries gtpetr != i++) fp" gufm a ma %s this lets. openad,+abinit=ontatest 3SF-,dim-1in ries_a mas; ")")goposend) NULL rteach_ >xuf in con set_teach_pries *sLINEAR*sLINEARs; ") (teach_ >petr != i++) fp" gufis letscriatestruct teach_,+abinit=ontatest 3SF-s; ")")goposend) NULL inr, ) andont_se permpteach_,+0.02,(4ot,x5000, 25s; ") if fcinr, n_fromdaics-;--1inpuculanoke "ini= next_petr->-;--1addto n_fromdaiies *iLpuc-;--1inpuculanoke "ini= next_petr->1)* --1addto n_fromdaiies *iLpuc-;--1inpuculanoke "ini= next_ use_ed_t sked_petr->2, 2ot,xt sk,x5,0)* --1addto n_fromdaiies *iLpuc-;--1inpuculanoke "ini= next_petr->3)* --1addto n_fromdaiies *iLpuc-;--1 fp" g if omd:SF-s; ") n_fromdaiiesc;) j, npuculaetr = rewind_enries *pic;) 0)ast_seorda lano *) m2*alloc(siL;-)* ptr)); /* WKV 2003-07-28)ast_seorda[0 ula)ast_seorda[1 ula-1;ptr)); /* WKV 2003-07- (&p); ( npucuspetr != i++) //seorda la) and onepteach_,+iLpuc-;--1 guforda la) and onepteach_,+iLpuc, last_seorda* 1r;ptr)); /* WKV 2003-07-28 0{{ last_seorda)* pppppppppppppppppppppppppppppppptr)); /* WKV 2003-07-28 0)ast_seorda laseorda* ppppppppppppppppppppppppppppptr)); /* WKV 2003-07-28 0i++) fp" g npucu-s; ")")ae (i=0;i (;i++) fp"\n++) maps )),ms of (%d,%d): ",+seorda[0 ,+seorda[1 (;i++) tf(putbtmeptrmo of_f the (ries *sseordar;3")")ae (i=0;i (;i++) fp"\n-s; ")")namplebtmiLpuc; ")") npuculaetr = next_entry(&p) s((fp, "2ula2.0) NU; inge = ( d - *)ano *) m2*alloc(s d - (par.0; inge[0 ula5.0) NU; inge[1 ula2tot = e fp" g)ast mappont, )),ms of (%d,%d):SF-,seorda[0 ,seorda[1 (;i++ fp" ggg toducvs(ininbubt((w(teach.r%.3f) SRNeactiv a fus:str,(fp, "2c;) 0)* insbtmeptractiv a fu_)* inspteach_,+seorda* (fp, "2,_tEIGH_BUBBLEs; ") e (i=0;i#ntructask trieuf ina *}nil arrays > 0); ); /* WKV 2003-07-28dvoidn_fromdaiiesc;)) {{ seordar;3"){{ ; inges; ") void set_teach_pch = &r;c / fp" g)est 3isemple_ed\nstroke esend: ") voidentrys_(;i++ fp"iestontasemple_ed\n")ry} pyro/b and/psom/c sesrc/ set_k-dev/umat.c0100755000076400003100000003736707506137347020766 0ustar dblankfaculty/************************************************************************ *eeeeeeeeeeeeeeeeeeeeeeeeeee *************************************** Ptogachdpackagis 'lvqet_k'ntruc' set_k' :ee *********************** *eeeeeeeeeeeeeeeeeeeeeeeeeee *************************************** umateeeeeeeeeeeeeeeeeeeeeeee *************************************** -euf vert auSOMecoifbooks)),PS/EPS a ma ***************************** * Varaipul1.0 * Da * 1 Mar 1995 * * NOTE: Thing togachdpackaginingcopyruse_eduse ed ine ieizeate t * mayshouOftenappescintrific purposes.n];e ackaginanerawhole* or * ch ss erreof,atrnlets. scluded or Often usanyecomevrcial * appl canipulctio " writtnnaparmo permigra sinba oms toducvel_. * Nog togachspuffer ceduse cfing ackaginmayshoucopitenappecomevrcial * stribunipu. * * All comevel_1)uf*di/=ontathing togachdpackaginmayshoune tp)), erg * e-mail/ wiress 'lvq@cochlea.h* .fi'. * * / #include e#include e#include e#include e#include "uf*fig.h"p#include "umat.h"e ilter(usagi[ ula{i++"umat -e toducv EPS/PS pis(ude(of auSOMSF-,d++"Requirt_popa fus:str,d++" -cse npucucoifbooksa mastr,d++"Opa fuayateach par :str,d++" -osa man mh tf(putba man mh (defaultningstdtf()on: % " -epss*************tf(putbEPS a ma (inindefault)str,d++" -pss**************tf(putbPS a mastr,d++" -por) ant*********tf(putbPS pis(ude(se por) ant*ms ostr,d++" -landscape********tf(putbPS pis(ude(se landscape*ms ostr,d++" -border***********draw border*arouructaptOsomsstr,d++" -onlyents*********draw only entrysstr,d++" -noents*********) don'tmdraw entrysstr,% " -W*dd = ((((((((((whitestresholdstr,d++" -B*dd = ((((((((((blackp)resholdstr,d++" -titma ntring(((((t_d titma (defaultning npucucoifbooksn mh)on: % " -letitma *******) do lets titma lnda onbPS pis(udeon: % " -fffe fffen mh PS affen mh appeentrysstr,d++" -affe}nil dd = (((affe}nil relanivep)), ergrfp, "ensiantOsomstr,d++" -paper " -*****) selecsepaper }nil dppePS tf(put,,A4 (default(for A3str,d++" -averaginnnnnnnnnnaveraginss tOmatrixstr,d++" -medeanwwwwwwwwwwwmedeanwa mpargss tOmatrixstr,d++" -headara; {n mh specify amparnaniveppostscript-headar a; str,d++tr !}ke exparn*ilter(psheadar[ , eilter(newntring(ilter(texp,e L; llo)ry#eefonrg vointring(ntr)){{ (ntr))-s * eps(FILE *fp *dries(seps_ ,en e ,en-;( * pagi(FILE *fp *dries(seps_ ,en e ,en-;( *imagi_}nil(dries(seps_ ,en ,e L;-;(ilter(ps_ntring_a mpar(ilter(texp-;( *iltngi_}uffix(ilter(_,+slter(es t,+slter(end-;--tries(spaper_ ,en eptrpaper_by_n mh(ilter(-;-tries(spaper_ ,en eptrpaper_by_id(iL;-;- *} rpaper(tries(spaper_ ,en* ic;) *guessrmo o(ilter(-;-p */ ,en onbpaper }nils-----tries(spaper_ ,en papers[ ula{i++{"A4: %PAPER_A4,,A4WIDTH,,A4HEIGHT},i++{"A3: %PAPER_A3,,A3WIDTH,,A3HEIGHT},i++{tr !,b-1, 0, 0}};) *u i, uy i, m i,modes-> * aper_" -*=%PAPER_A4;( * agi_widg gtmA4WIDTH;( * agi_h use_e=iA4HEIGHT;( *orintranipul= BEST;( *old_ ur ma; hexa_(fp, "; ma; eps_widg gtm100tot =ma; eps_h use_, dd = ((fp, ", eilter(affen mh = DEFAULTFONT;-ma; iffe}nil =b-1ot->ilter(titma lachar) l; starde= LMARGIN;( *ystarde= RMARGIN;( *lmargin->xLMARGIN;( *rmargin->xRMARGIN;( *tmargin->xTMARGIN;( *bmargin->xBMARGIN;(p */ ,t*ms o->xOUTPUT_EPS;---- ,t*ms o->x0;( *letitma tm0; */doesn'tm a; n mh if 1 ---s *doborder*>x0re *drawblocksbtm1; *drawentrysbtm1; -ma; white_)reshold =c1ot;-ma; black_)reshold =ctot = ilter(headara; lachar) iltera man mhbuf[100t];-s *main( *argc,+slter(*argvr { imilter(in n mh,, tf( n mh,, &*codfp; sOmatrixr(umat*codfp; seps_ ,en e ,en*codit; averagin=(0ry(& *medeanw=(0ry(&FILE *tf( fp*codfp; sa ma_ ,en tf( fi;c /globay_opa fus(argc,+argvr; ") (expract_teach par(argc,+argv, "-help: %OPT_FU2-= ") i++) help(oke\n")")exit(0t;i++) ; in n mhgtmchar) NUtf( n mh lachar) 0); defaultnpagindnil ingA4 07-28t rpaper(eptrpaper_by_id(PAPER_A4(parile); teasl args*---n" ") (expract_teach par(argc,+argv, "-border: %OPT_FU2-= ")doborder*>x1ri> 0i (expract_teach par(argc,+argv, "-por) ant: %OPT_FU2-= ")orintranipul= PORTRAITri> 0i (expract_teach par(argc,+argv, "-landscape: %OPT_FU2-= ")orintranipul= LANDSCAPEri> 0i (expract_teach par(argc,+argv, "-ps: %OPT_FU2-= ")ms o->xOUTPUT_PS;i> 0i (expract_teach par(argc,+argv, "-eps: %OPT_FU2-= ")ms o->xOUTPUT_EPS;i> 0white_)reshold =c; of(expract_teach par(argc,+argv, "-W: %OPT_FU),8eON);i> 0black_)reshold =c; of(expract_teach par(argc,+argv, "-B: %OPT_FU),80ON);i> 0tf( n mh laexpract_teach par(argc,+argv, "-o: %OPT_FU); ") (ms o->((eci ")ms o->xguessrmo o(tf( n mh)LEnex ( n laexpract_teach par(argc,+argv, "-iffe: %OPT_FU)); j ++{nfen mh = sre 0{nfe}nil =b; of(expract_teach par(argc,+argv, "-{nfe}nil: %OPT_FU),8-1.0t;i++ titma tmexpract_teach par(argc,+argv, "-titma: %OPT_FU); ")> 0i (expract_teach par(argc,+argv, "-letitma: %OPT_FU2-= ")letitma tm1LEnex ( n laexpract_teach par(argc,+argv, "-paper: %OPT_FU)); j ++ i++) tries(spaper_ ,en pbtmeptrpaper_by_n mh(")ge\n\n") (pbtle)) == { U)e fprintf(stdUnknown-paper " -:,%son: %")ge ")exit(1)*c }-n")") t rpaper(pt;i++) > 0i (expract_teach par(argc,+argv, "-averagi: %OPT_FU2-= ")averagin=(1ri> 0i (expract_teach par(argc,+argv, "-medean: %OPT_FU2-= ")medeanw=(1ri> 0i (expract_teach par(argc,+argv, "-onlyents: %OPT_FU2-= ")drawblocksbtm0ri> 0i (expract_teach par(argc,+argv, "-noents: %OPT_FU2-= ")drawentrysbtm0ri> 0in n mh laexpract_teach par(argc,+argv, IN_CODE_FILE,,ALWAYS)LEnex ( n laeptenv("UMAT_HEADERFILE")); j ++headara; lasLEnex ( n laexpract_teach par(argc,+argv, "-headara; : %OPT_FU)); j ++headara; lasLEnexentry_let_l_not_(1)LEnex ( umat laetad_t p(in n mh,,0, 0)_file)) == ") i++) e fprintf(stdCrn'tma; dra; stroke\n")")exit(1t;i++) > 0( /_Omatrix umat,,0, 0)LEnex (averagi= ")averagi_Omatrix umat)LEnex (medean= ")medean_Omatrix umat)LEnex (ms o->((eci ")ms o->xOUTPUT_EPS;i> 0 (orintranipul== BEST= ")orintranipul= umat->m i >= umat->myics- ? LANDSCAPE : PORTRAITri> 0i ((tf( figtmopenra; (tf( n mh,,"w")_file)) == ") i++) e fprintf(stdtrn'tmopen-tf(putba mastroke\n")")evoidumat umat)LE\n")")exit(1t;i++) 0tf( fpbtmfi2fp(tf( fi)LEnexe ,en.umat laumat*code ,en.titma tmtitma ?mtitma :0in n mhLE\n")")> 0imagi_}nil(&e ,en* 0t;i++) nex (ms o->((OUTPUT_EPS= ") eps(tf( fp, &e ,en-;(od)lse ") pagi(tf( fp, &e ,en-;( ")evoidumat umat)LE\numat lachar) 0 (of( fi) ")s)ose=a; (tf( fi)LEnex xx /=b0ry} p */ge s ,en ab " paper " -snba n mh ----tries(spaper_ ,en eptrpaper_by_n mh(ilter(n mh) { imtries(spaper_ ,en p; ")> 0{nd (pbtmpapers; p->n mh !le)) =; poc; } */ strcasrcmp(p->n mh,sn mh)->((eci ")ex xx /=bpLEnex xx /=bchar) } p */ge s ,en ab " paper " -snba " -*id ----tries(spaper_ ,en eptrpaper_by_id(iL;*id) { imtries(spaper_ ,en p; ")> 0{nd (pbtmpapers; p->n mh !le)) =; poc; } */ p->-d->((id) ")ex xx /=bpLEnex xx /=bchar) } p *} rpaper(tries(spaper_ ,en* ic { im aper_" -*=%p->-d; egi_widg gtmp tr dg -> * agi_h use_e=ip th use_, els xx /=b0ry} p *iltngi_}uffix(ilter(_,+slter(es t,+slter(end- { imilter(s1*codfp;cpy(es t,+s); ")> 0s1ulafp;rchr(es t,+'.'); ") (s1ulle)) == ")strcat(es t,+end-;-od)lse ")fp;cpy(s1,+end-;-odels xx /=b0ry} pilter(eptrdate( *- { imiint_ *iuriint*c /(uriint tmtimh()) ==;els xx /=bc(int)&(uriint)) } p */guess) ing(ms o-ppingfiman mh (EPS/PS) ---s *guessrmo o(ilter(n mh) { imilter(s; ") (n mh lle)) == ") xx /=b0ry> 0sulafp;rchr(n mh,s'.'); ") (s lle)) == ") xx /=b0ry> 0s yc */ strcasrcmp(_,+"ps:)->((eci ") xx /=bOUTPUT_PS;i> 0i (strcasrcmp(_,+"eps:)->((eci ") xx /=bOUTPUT_EPS;i> 0 xx /=b0ry} p * pagi(FILE *fp *dries(seps_ ,en e ,en- { imi tpw, h, x_,+y_,+tmp, pw, p -> *dd = (scale* scale1* scale2) NUilter(titma_ntr*codfp; sOmatrixr(umat lae ,en->umat*codw lae ,en->r dg -> *h lae ,en->h use_, elstitma_ntr lae ,en->titma;i> 0i (titma_ntr ECT)!letitma); j ++w +=f24;c / wbtmpagi_widg g-*lmargin--*rmargin-> * hbtmpagi_h use_e-*bmargin--*tmargin;( ")e fpfp *"%%!PS-Adobe-2.0\n%%%%Pagis: 1SF-s; ")e fpfp *"%%%%Criat, : umat V1.0\n-s; ")e fpfp *"%%%%CriatipuDa * %s: %ps_ntring_a mpar(eptrdate()));i> 0 (orintranipul== LANDSCAPE= ") i++) e fpfp *"%d %*/prans CaR 90 roraneSF-,dim-1) lmargin-+ pw, bmargint;i++) tmpbtmpw;i++) wbtmph;i++) gtm)mp*cod ( ) )lsee); PORTRAIT-07-28 0 i++) e fpfp *"%d %*/prans CaRon: %mmargin, bmargint;i++) > 0scale1 = ( d - ) wb/o( d - (w;i++scale2 = ( d - ) hb/o( d - (h;i++scale lanin(scale1* scale2);i> 0xsula( wb-+scale * w)=lo0.5-> *ysula( hb-+scale * h)=lo0.5-> ")e fpfp *"g) s%d %*/prans CaR %f dup+scaleSF-,dim-x_,+y_,+scale)LEnex ( titma_ntr) ECT)!letitma); j ++ i++) e fpfp *"g) s/Helvetica iltefffe 18+scalefffe } fffestroke\n")")e fpfp *"0 } gray %f %f 8/ wi(msvetoSF-,dim-1) ( d - (2ot,xe ,en->h use_oke\n")")e fpfp *"(%s - Dim: trieSnil: tr*%*/Osoms, %s et ofborhood)*dThwSF-,dim-1) ps_ntring_a mpar(titma_ntr), umat-> i, umat->m i, umat->myics,dim-1) umat->ufm = cus of_f=gtEIGH_GAUSSIAN ?m"gau pean" :0"bubt((roke\n")")e fpfp *"grs torastroke\n") > 0); tapt07-28 eps(fp *e ,en-;( ")e fpfp *"grs torastdThwpagistroke 0 xx /=b0ry} peilter(newntring(ilter(texp,e L; llo) { imilter(s,, &2 yc */ texp lle)) == ") xx /=bchar) 0 (len-<(eci ") i++) e fprintf(stdw rdont: etganivep long gntring('%s'on: %texp-;(m-1) lenw=(0ry(&} > 0 */ llo->((eci ")lenw=(ntrlen(texp-;(m-> 0sulano *) mlenw+ 1); ") (s lle)) == ") i++) e fprintf(stdtrn'tmo *) )memorynappestring('%s'on: %texp-;(m-1) xx /=bchar) NU} ++) n> 0s2 lasLE(&p); ((*s la(texpoc;=;els xx /=b&2 ; * headar(FILE *fp *ilter(hn mh) { im *i*codfp; sa ma_ ,en fi;c(&FILE *headar=a; ) 0 (hn mh) ") i++) ( figtmopenra; (hn mh,,"r")_file)) == { U)e fprintf(stdumat: trn'tmetadePS headar a; %son: %hn mh)LE ") xx /=b1ri }-n")") headar=a; btmfi2fp(fi)LEn")") p); ((cbtmfeptc(headar=a; ))-!((EOF)i e utc(c,)e )LEn")") s)ose=a; (fi)LEn")" ) )lse ") lndas(fp *psheadar)LEnex xx /=b0ry} p */- /* CaR imagindnil --- ,t*imagi_}nil(dries(seps_ ,en e ,en* i tpwidg ) { imtries(sOmatrixr(umat lae ,en->umat*c 0 (widg g<((ec( j ++widg gtm100tLEnexe ,en->r dg = r dg -> *swits u(umat->ides-- ") i++) casrgTOPOL_RECT:> 0.0")e ,en->xstep = ( d - )r dg /o( d - (umat->uodes->xd")) e ,en->ystep = e ,en->xstep->xd")) e ,en->h use_e=iumat->uyent-* e ,en->ystep->xd")) e ,en->x0 = e ,en->xstep=lo0.5-> *")) e ,en->y0 = e ,en->ystep=lo0.5-> *")) e ,en->(fp, "e= e ,en->xstep=lo0.5-> *")) b bid\ncasrgTOPOL_HEXA:> 0.0")e ,en->xstep = ( d - )r dg /o( d - ((umat->uodesw+ 1); ")")) e ,en->ystep = e ,en->xstep=lofoat)3)=lo0.5-> *")) e ,en->(fp, "e= e ,en->xstep=/ofoat)3)->xd")) e ,en->h use_e=i(umat->uyent-- 1e * e ,en->ystepw+ 2.0floe ,en->(fp, "->xd")) e ,en->x0 = e ,en->xstep=lo0.5-> *")) e ,en->y0 = e ,en->(fp, "->xd")) b bid\ndefault:> 0.0")e fprintf(stdunknown-ides-ogyesion: %umat->ides--;(m-1) xx /=b1->xd")) b bid\n}-n")") nex xx /=b0ry} p */ps_ntring_a mpar: escape*ps special*ilteaccaramibedtring. Rxx /=s a-n")petr-er "o agstatic bufferpuffer contath nescapededtring. ---silter(ps_ntring_a mpar(ilter(texp- e> 0static ilterps_ntring[1024]; */ThingdThis bros ouof_appemost purposes007-28(lter(sbtmps_ntring,*i*c yc */ texp; j ++w); ((cbtm(texpoc;=-n")") i++) *swits u(c) i++) *) i++) *\ncasrg'(':i++) *\ncasrg')':i++) *\ncasrg'\\':i++) *\n *s la'\\';i++) *\n b bid\nnnnnnndefault:> 0.0") *\n b bid\nnnnnnn}bid\nnnnn*s lac bid\nnn > 0*s la0LEnex xx /=bps_ntringkee(p0); anseps objecseof a; ---s * eps(FILE *fp *dries(seps_ ,en e ,en- { *dd = (cs-or-> *dd = (xstep,+y_tep,+(fp, "->xd l; ,+y, numents* i) NUilter(entry;-od) { ILE *(lter(selecs_ides-_ *s* raw_block_ *s*stard_row_ *s*e= rrow_ *codfp; struct data_edtmp*codfp; sOmatrixr(umat lae ,en->umat*c 0e= rrow_ la"NL"LEnexswits u(umat->ides-- ") i++) casrgTOPOL_HEXA:> 0.0")selecs_ides-_ la"ides-_hexa" bid\nnn raw_block_ la"H" bid\nnnstard_row_ la"XSH" bid\nnnb bid\ncasrgTOPOL_RECT:> 0.0")selecs_ides-_ la"ides-_r th" bid\nnn raw_block_ la"R" bid\nnnstard_row_ la"XSR" bid\nnnb bid\ndefault:> 0.0")e fprintf(stdtrn'tm tdes-ogyesion: %umat->ides--;(m-1) xx /=b0->xd")) b bid\n}-> 0); ((fp, "e= eps_widg g/ m2.0flofoat)3)=lo( d - (umat->m i);007-28xstep = e ,en->xstep->xdystep = e ,en->ystep->xd(fp, "e= e ,en->(fp, ", e 0); eps headars007-28e fpfp *"%%!PS-Adobe-3.0 EPSF-3.0\n-s; ")e fpfp *"%%%%BouruingBox: 0 0 %d %*on: % ")(iL;-ceil(e ,en->r dg ), iL;-ceil(e ,en->h use_o-;(m-> 0e fpfp *"%%%%Titma:,%son%%%%Criat, : umat V1.0\n- % ")ps_ntring_a mpar(e ,en->titmao-;(m-> 0e fpfp *"%%%%CriatipuDa * %s: %ps_ntring_a mpar(eptrdate()));i 0e fpfp *"%%%%Pagis: 0\n-s; ")e fpfp *"%%%%DocuevelFnfe}:,%son%%%%DocuevelN_not_Fnfe}:,%son-,dim-{nfen mh,-{nfen mhs; ")e fpfp *"%%%%EndComevel_\n-s; ")e 0); COPY HEADERa---++ headar(fp *headara; )= ") xx /=b1;ptr)\n", 07-i++e fpfp *"/rfp, "e%fndef\n/xstep %fndef\n/ystep %fndef\n-,dim-(fp, " *xstep,+y_tepparile); fffe } lecsipul07-28e fpfp *"%%%%IncludeFnfe:,%son: %{nfen mhs; ")e fpfp *"/{nfen mh /%sndef\n-,%{nfen mhs; ") infe}nil >80ON) ")e fpfp *"/{nfe}nil %fndef\n-,0{nfe}nils; ")e fpfp *"} lfffestroke\n ")e fpfp *"/doborder*%sndef\n-,%doborder*?a"irue" :0"falseroke\n); umat 07-i++e fpfp *"/wt %fndef /bt %fndef\n-,0white_)reshold,0black_)reshold-;( ")e fpfp *"/y 0 def\n/xoff %fndef\n/yoff %fndef\n- % ")e ,en->x0, e ,en->h use_e- e ,en->y0));i> 0 (drawblocks; j ++{nr (y tm0; y uyent; yoc; } .0{i e fpfp *"%s : %stard_row_ )LE {nr (x =(0r x uodes- xoc; e fpfp *"%d %s : % iL;-(100=loumat->uvalue[x][y]), raw_block_ ); fpfp *"%s : fp_'1des-joc; ,%son: %{nfen mhs; ")e fpfp *"/{nf--s * eps(FILl(e ,en->r % , bmargint;i++) >scORp) { s;i++) >scOsaDp; BtenSRNeac__a mas; ")")goposiest2) NULL rteach_ >xuse_e- e!36, 3 { sd-;-od)m 0 (drawblocyoff cORp) cseof a6, * sn07- of a;f cORp) h_ *ck_)reshold-; a0LEn t_seord cORp) n")") a0LEn t_(t; yoc; } .2yen0{i2yeny]yenseo)rd cORp) f cORp) h_ *cseof a-; {ry(&}h_ *cseof a(hn = colocyoff cORp) c; one fp fpri: %ps_nt fp =daptf( **des of n%%%%->-;--t fp(* nfeni: %ps_nfe 18+scalefffe )e ,eLAB ); etoSF-,dim-1) ( d - (2ot fps007-28e 0LEnfeni: %ps}ni: %n")") ocyoff cORp) c; me_ew(put fpfp *"i: %ps_nf- e!i6, 3 {i sdcseof a {irawbl {ry( _nt fp =daptf( **des of n%%%%->-;--t fps(ltee=iinfeni: etohar) fp =fp *BEL_EMPTY) etoSF{ etoSF-,cseof a6, i; etoSF-,la"XSR" i: %ps}ni: etofe 18+scalefffe )efp *"%%%%Titma:,%sont fpsfeni: }"i: %ps_nni: %ps_nfe 18+scaleff- (h;iMLefp cseof a; 7-28e 0LEnfeni: %ps}ni:}d cORp) n")") fe 18+scaleff- (LN; y titmao-;(x =(ult:++"Onndefa((roke\n")")e fpfp dblankfacultyoidentrys_(;i++ fp"iestontasemple_ed\npyro/b an7216om/c sesrc/ set_1-dev/umat.c0100755000076400003100000003736707506137347020766 0ustar dblank_INCLUDED_nts: %_h specify_INCLUDED_nts: %_h/************************************************************************ *eeeeeeeeeeeeeeeeeeeeeeeeeee ****************************/*****************************_ed\n**************************/*****************************ee ***********************e *****t*********tf(**********************************************************************************************books)),PS/EPS a ma ***************************** * Varaipul1.0 * Da * 1 Mar 1995 * * NOTE: Thing togachdpackaginingcopyruse_eduse ed ine ieizeate t * mayshouOftenappescintrific purposes.n];e ackaginanerawhole* or * ch ss erreof,atrnlets. scluded or Often usanyecomevrcial * appl canipulctio " writtnnaparmo permigra sinba oms toducvel_. * Nog togachspuffer ceduse cfing ackaginmayshoucopitenappecomevrcial * stribunipu. * * All comevel_1)uf*di/=ontathing togachdpackaginmayshoune tp)), erg * e-mail/ wiress 'lvq@cochlea.h* .fi'. * * lim sfew iestnction erg,o* onessibedomede eh specifyON 1h specifyOFF 0eh specifyRHOMB 0e specifyructGON 1he specifyX 1h specifyY 2he specifyAVERAGE 1h specifyMEDdThw2he specifyanipul= BES " s%d %*"oc; } ter(entr{ xoc; (((((((((ningFnfe}:,cs,d fpfp BtenSRNNNNNNc; mapej, dapt-nfe}:,cs,ck_ ptr)); /* WKV r th" bi>n mhnfe}:,cs,enSRNNNNNN; /* WKV j, dapult:ce(((((((b!le)) =; df(_ries_a**m } ;/* WKV (((((((((b!le)) } s" sedevrobs.h"e -s *mainmh,-{ ((((((((( *"%d ,-{ ter(entryfe}:,cs, ,en papers[;* WKV j, dap =; df(_ries_a*u } ;/* WKV } s" s} LMARGt((_adapt-eco'map.c'" oc; } ter(entr* > &e ,enfp;rc->xOUTnil(&e ,en; } ter(entr*ntring_a mter(entr* ( n laedries( la ae vert swapx vert swapy * x ( umat ling_a mter(entr* vert eps(FILs of,swap&e ,en; } ter(entr*,ert }uffix(ilt= ") i++) e i) NUilter(entry;-odfix(ilta; stroke\n")"i) NUilter(entry;-odfixMARGt((_adapt-eco'm; st.c'" */doesnm; st3trn'tm,rn'tm,(_ries_);*/doesnm; st4trn'tm,rn'tm,(_ries_,(_ries_);*/doesnm; st5trn'tm,rn'tm,(_ries_,(_ries_,(_ries_);*/doesnm; st6trn'tm,rn'tm,(_ries_,(_ries_,(_ries_,(_ries_);*/doesnm; st7trn'tm,rn'tm,(_ries_,(_ries_,(_ries_,(_ries_,(_ries_);* b er(-;-tries*****i e#incspecifyAr !,b-1 841 ncspecifyAr,,A3W 595ncspecifyA(-;-p yAr !,b-1ncspecifyA( !,b-1 (2*Ar,,A3W)* b er(-; p->n specify\n")")ex 1h specifyrmo o(ilw2hec; matmpws ((ecidum->((eadarnot_*dd = }ndd = (tEIGs lac ") lndas(fp *psheadex xx /=bpeadarnot_*dd = xx /=bps_ntringkee(p0); ax /=bps0ing0/=b0ry} p * = }ndd specify%d %a,b) ((a) < (bumat(a) : (bu)) { struct_INCLUDED_nts: %_ dblankoidentrys_(;i++ fp"iestontasemplev x n")ry} pyro/b a155psom/c sesrc/ set43-dev/umat.c0100755000076400003100000003736707506137347020766 0ustar dblank/******************************************************** *eeeeeeeeeeeeeeeeeee**********************/*****************************v x n"/*****************************-((fp, fpfplt:h"e -s mh !h js; ty votdon'tmdr**************************************************************************************books)),PS/EPS3a ma ***************************** * Varaipul1.0 * Da * 1 Mar 1995 * * NOTE: Thing togachdpackaginingcopyruse_eduse ed ine ieizeate t * mayshouOftenappescintrific purposes.n];e ackaginanerawhole* or * ch ss erreof,atrnlets. scluded or Often usanyecomevrcial * appl canipulctio " writtnnaparmo permigra sinba oms toducvel_. * Nog togachspuffer ceduse cfing ackaginmayshoucopitenappecomevrcial * stribunipu. * * All comevel_1)uf*di/=ontathing togachdpackaginmayshoune tp)), erg * e-mail/ wiress 'lvq@cochlea.h* .fi'. * } iestedevrobs.n erg,o* onessibedomede essibedomedevrobs.c--/(d specify%ax%a,b) (((a) > (bu)mat(a) : (bu)) specify%d %a,b) (((a) < (buumat(a) : (bu)) tring. Rxx / #include e#include 0, ) Nnoc,Nnol verdexidum->((e)); b ansepe_edt fp verd,+(fp, "->xd l; ,+y, nh"e tee=i(voidments* WINN o(FUNC)LEn *winnper(e* .h" heannpe,+(fp, "->xh"e -s letscr* .h" hvoid//) { strh"e -s *mainscr* .h" h*mainm/) { streannpe lac ean_hbuf[100{ strh * apachlh ss+argvr; "){ strh * ,+y, nh * ansep :0"oducv== ") FILE *fp &}h_ *cseof a(ke 0 xx cseof a6, \n *s letscr* .h" hvoid//) *mainscr* .h" h*mainm/ &}h_ *eps(FILl(e ,en- bmargint; ")e fpfp *"grs torastd >scOnoc *\*/OsomsumLl(e ,ena; )= > =a; arh * apac cana e ilter fpfp=; df(h ss+actdw rdnoc,N (;i++){ strh * apach)parile); h ss+)e fpfp *"grs torastdThwf- e!i6, 3 {i sdcoc {irawbpfp nf--s h s[i] iew_h * apa_ ,en tf(e); h s[i] n mh) { im *i*codfp; sa ma_j ++he")> h * apa[%d]nr (xi;3": %ARGtree > =a;d h * apasp *"is;e> 0sta--imede0wblocyonil(&h * apa_h s[i]>xuse_escrih s ") i++) orastd( figtm}% )= Susena letsh"e -s /scale * wvoidmen eps(FILl(e ,en-next_petr; ")e fpfp *"grs torastd )= :0" oducv=(putbe *csebt**lt: letsb!le)) = -Wxd")) (whenen tf ed us id\n}-ate7-28)a /scal :0"oducv== let->flags.totsao_xd"))anivep lo:0"oducvi++ til== let->sumLl(e ,ena;}-n")") heatil== *argd6, \n *se> 0stavoidmen ano *) m2*alloce_edt fp%OPT_FU->-;--t fp(*oidmenoke\n"y} p */-nnpe- bmargi*oidmen_peean_hbuf03-0y_n mh(ilter(h_priskip&h *mh,-{winnper ed f(se p->))* um a mpon ni: lt: tf(putb!le)) w}-a fromda raw->)skip ni: tf(put /scal )= dd arh * * winn fpf'srh * apac can (l)* ,1inhe(ilter(: tf(pu. Igno : tf(pus];e r e (l)* (= empttbPS pi)t /scal )erdexseps_n_hbuf.erdexidummhs; ")_edt fp%!fp *BEL_EMPTY)(ilter( dd&h *_h s[irdex],ce_edt fpoke\n"skip&h *:cal )= TaksiantOies letsh"e ys CaR 90voidmen ies *sseordar;3")" )erd(iltdummhs; "o:0"oducvi++ mhs;verb (= com*codfdnol--;3")" /=bchaverb (= cpfp nf--s m*codfd+) 0tf(i*codfp; sa ma_mat->m i, umat->Sw en fpult:c e ilterh"e -s accordx xx /= 0tfx /=b1;pttrnNseof a6telpfp:0" m m fpfp)t*%aximum d"))* ognxd" 0tf) hern us(((((((((b!le)).-t mean allt /scalh"e tee eps(FILl(e ,en- bmargint;i++)erdexsep\n *se> 0stah"e tee ano *) m2*adummhs; "cseof a(hn mh(ilter(of a6, h s[irdex]->l(e ,ena;}-}-n")") hear(of a6, %d %h s[irdex]->l(e ,enp cseof aoke\n"y}t->rea); eviousm fpfpy} pi(((((((((b!le)) CaR 90c r%->-;--t fps(h"e teeoke\n"y}f- e!i6, 3,rh * , h s[irdex]-> ** {i sdof a {ira,rh * , h oms,(texp- r( dd&->-;--t fp(h"e tee=ih omt fpoke\n"yonil(&h * apa_h s[irdex]->m ih s[irdex]ex (ms o->alh"e tee ies *sseordar;3")" )erdex(ilter}gi_}nil(ih s p *"grs ")")ae (}rawentrysbtm1; -ma; white_)reshold =c1ot;-ma;rewind_en;d =c1ot;-ma;ewind_eni;d =c1ot;- ") (\n", ) ,+(fp, "->xh"e -s let, *mainm+(fp, "->x* .h"e#includ#inclu ansep*"gcmargin->x vert cseof ;---- ,t* 0, ) Nid\n}-n *s letscr*mainscrorastd >scOatrixr(umat*codfp; seps_ ,en e ,en*codit; averagin=(0ry(& *medeanw=(0ry(&FILE *tf( fp*codfp; sa ma_ ,en tf( fi;c /globay_ copenrewind_ens: %OPT_FU2-= ")drawblocksbtm0ri> DATA(expract_teach popenrewind_enis: %OPT_FU2-= ")drawblocksbtm0ri> 0i (expract_teach p ; ") (\n", ) s: %OPT_FU2-= ")drawblocksbtm0rOUT 0i (expract_teach p ;)d\n}-n")ms oi) NUtf( n mh lachar) 0); defaultd\n}-old =c; of(eh p ;cseof ;---- ms oi) NUtf( n mh lachar) 0); defaulcseof ateach par(arg of(expracverb (2-;( ")e*codfp; sa ma_Dletsh"e -s ) FILE y} pilter) {nr (xpenrewind_enin "i letscruriates if t_d rewind_enin "is; ")_edng gntring('%s'on: %texp-;(m-1) lenw=(0ryumat->m)_ednlter)lenw=(ntr_d rewind_enin "i tf( fi;c_l_not_(1)LEnDERFILE")); j ++headara; verb (2-;( ")e*codfp; sa ma_C e ilterh"e -s a FILE y} pilter) {nr (xpenewind_enin riengfima* uriates if t_d dynam cally,SF-s ; ") fp" ggg('%s'on: %texp-;(m-1) lenw=(0ry umat->mOMaa few ilenw=(ntr_d ewind_enin ries_ma %son: %tf(_ries_a ma2) tf( fi;c_l_not_(1)LEn-s ; ") lock_ sd; structm2*allocxp-;(m-1) lenw=(Few iint -W ed a mape(usagi[ r_d ewind_enin ries_*"gcmargin->y0 = h_pries *sLINE "is; ")_edoke\n dapu! *\*/Osome\n dapm2*allocxp-;(m-1) lenw=(Dlets****(((((((((b!le))fp: *"gdi\n}-acs,enS dap "n ries_*"gcmargin->y0 = h_pries *sLINE pbtm>#ntructask t&2003-07-i+margi*oid,;)d\n}-n riepbtm******ask t&2003-0fen mhs; "aptf(t fps(&2003-07-cseof ;--== BEST= ")orintranipul= umat->m iaptf(t fps faenid\x_,+y_,+sca*"gcmargin->y0 = = h_pries *sLI)" /=bchaverb (2-;( ")e*codfp; sa ma_C e ilterh"e -s a p *"d d")lter) {nr (x ") (\n", ) n riep *"Ll(e ,en- bmargi ") (\n", ) n r-28dvoi ma %son: %tf(_ries_a ma2) fp" gu-s; ")")ae ( p *"grs *"gcmar)") void set_teach_pch = &r;c / fp" g)est 3isemple_ed\nstroke esend: ") vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvoidentrys_(;i++ fp"iestontasemplev,PS/EPn")ry} pyro/b ansom/c sesrc/ s14_k-dev/umat.c0100755000076400003100000003736707506137347020766 0ustar dblank"v,PS/EPnh" tring. Rxx /v,PS/EP[2 *dra+s); ")> 0v,PS/EP( ") *codfp;v,PS/EPiest2)R%d mpenide%fn fpfp SOM_VERSparp SOM_REVISparp ") _ DATE__, _ TIME__oke\n")")e v,PS/EP") void set_teach_pch = &r;c / fp" g)est 3isemple_ed\nstroke esend: ") vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvoidentrys_(;i++ fp"iestontasemplev,PS/EPnpyro/b an104om/c sesrc/ s14_5-dev/umat.c0100755000076400003100000003736707506137347020766 0ustar dblank specifySOM_VERSpar "SOM/LVQ_PAK 3.1 beta" specifySOM_REVISpar 134void set_teach_pch = &r;c / fp" g)est 3isemple_ed\nstroke esend: ") vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvoidentrys_(;i++ fp"iestontasemplevaptfn")ry} pyro/b a22513om/c sesrc/ s1111-dev/umat.c0100755000076400003100000003736707506137347020766 0ustar dblank/******************************************************** *eeeeeeeeeeeeeeeeeee***********************eeeeeeeeeeeeeeeeeee**********************vaptfn"*eeeeeeeeeeeeeeeeeee**********************-daptf bess,dim-;e rm mgu-alosa man mh eeeee******************************************************************************************books)),PS/EPS3a ma ***************************** * Varaipul1.0 * Da * 1 Mar 1995 * * NOTE: Thing togachdpackaginingcopyruse_eduse ed ine ieizeate t * mayshouOftenappescintrific purposes.n];e ackaginanerawhole* or * ch ss erreof,atrnlets. scluded or Often usanyecomevrcial * appl canipulctio " writtnnaparmo permigra sinba oms toducvel_. * Nog togachspuffer ceduse cfing ackaginmayshoucopitenappecomevrcial * stribunipu. * * All comevel_1)uf*di/=ontathing togachdpackaginmayshoune tp)), erg * e-mail/ wiress 'lvq@cochlea.h* .fi'. * * } iestedevrobs. erg,o* onessibedomedevrobs.c--/(ssibedomede eh maxd specify%ax%x,y) ((x)<(yumat(y):(x)) { st\n b--------------------------------------------------------------------------- s of,n%%%%Ddeeragin/EP(fp;rchr(es*codfp;" wi repe=a;dly ru inito "izses.n,i++snex x\x_,+y_,*codfp;"****tess cyc********elf-Organiz Mim-algs; thm.\x_,+y_,*codfp;"\x_,+y_,*codfp;"I followx xx /=b++snex x *tmargin,x /=b+ess, *tmargin\x_,+y_,*codfp;"( usenbsiantOser_by****th pep *" *tmargin-a romda.\x_,+y_,*codfp;"Afnil dppmx /=b+n mhof per th" bi romda,NOTEwe as\x_,+y_,*codfp;" /=b+n mhof } gray %f %Gt((_adap x-y****y-enS dap\x_,+y_,*codfp;",1inhe pepc bufferp s+ gt*sy****pren}-aably x-enS dap\x_,+y_,*codfp;"pc bufferplargil dpseny-enS dap.\x_,+y_,*codfp;"\x_,+y_,*codfp;"T/=b++snex x done ecomwoiningc. Firsbid\n) x x phasn\x_,+y_,*codfp;" s ually pc rtil dpsen followx xx ****gx x phasn.\x_,+y_,*codfp;"T/=bcsebt**lt:++snex x cyc**s,x /=b++snex x r=a;sy***\x_,+y_,*codfp;" /=blnda onbPS /=badape fa a-a romda 2003tello->(\x_,+y_,*codfp;"bo rphasn fix xd( -e toducv w}-a givsp.\x_,+y_,*codfp;"\x_,+y_,*codfp;"T/=bqua zses.n{nfen m mputppl can#ntr pe***\x_,+y_,*codfp;" /=bbess,dim-(sstdwess,qua zses.n{nfen )++" *"d d"\x_,+y_,*codfp;" /=bgivsp *tm. If{ verb -e toducv >w, qua zses.n\x_,+y_,*codfp;"nfen m givsp can#ntr 2003temgu-al.\x_,+y_,*codfp;"\x_,+y_,*codfp;"Afnil dppe**swe)fp: *"gbesp givsp /=b++snex x bempws\x_,+y_,*codfp;"****depe->xd( o ludebPS blpmxit taksia0, ) N ")s.\x_,+y_,*codfp;"\x_,+y} , ) N)> 0odfd+s); "h" vert cS;i> 0i (seci "seordb0ry} p pagiry} p ; ]n->umacodfp;"%s:; y choke\n"tcale1*prins(" ,seciNULLdpw;i++)(iltecale1)e fpfp *"grs (noe ( p *"grs ms oi)" ,snoe,+y} x /=bp)> 0x /=bd+s); "h" vx /=bpcS;i> 0i (seci "seordb0ry} p pagiry} p ; ]n->umacodfp;"%s:; y choke\n"tcale1*prins(" ,seciNULLdpw;i++)(iltecale1)e fpfp *"grs (noe ( p *"grs s o->t-heaes t,+s); ")> 0t-hd+s); "h";i> 0i (seci "seordb0ry} p ,p mppagiry} p ; ]n->umacodfp;"%s:; y choke\n"tcale1*prins(" ,seciNULLdpw;i++)(iltecale1)e rintranacodfp;"Ci;c(&FILE rclude t-he_nottee lafphr( ,p' ingfiman mtee anod+s);)e fpfp tee[0]oc;=-0'_nottee lafphr( ,p'\ningfiman mtee anod+s);)e fpfp tee[0]oc;=-0'_n p *"grs tt-he_n}rawentrysbtm1; -ma; white_)reshold =ert cSt, bcSt, nfen >x vert ,en pay ,en->r,cs,ck_ , } gr ax /=bpalpha1p0); 1n->r,cs,fix <,*w_*dd s ax /=bpalpha2p0); 2 ax /=bpqnfen ,pqnfen b;d =c1ot;-ma;rewind_en,;-ma;+essnd_en,;- ") (\n", ) ,r* phaep,+(fp, "->xh"e -s letscrrgvr; "){ strh"e -s +ess letscrrgvr; "){ strh"e -s *mainscrorastd >{ strh"e -s *mainnscrorastd >{ strh"e -s ments* i) NUil* .h"e#includ#inclu a, ) Nid\n}-,llo) { 1,llo) { 2,Nnoc,Nnocidum->((q/=b0ts* i) NUil*n m apach*n m_mentss* nfen min->x vatrixr(umat*codfp; seps_ ,enn%%%%Ddeeragin/EP(oke\n" ed =N)> 0odfd"GL; lt/=bcsebt**lt:++-alo"f(eh p ;penrewind_ens: )> 0t-hd"GL; lt/=b7-28)m)_ednlter)rgin"h p ;pen+essnd_ens: )> 0t-hd"GL; lt/=b7-28)m+ess, *tmargin"h p ; ") (\n", ) s: )> 0t-hd"GL; lt/=bsics- ?/ape(usaargin"h pnottk_ =ttk_ ->n m()> 0t-hd"GL; lt/=br th" bi>n m")parile); tk_ ==d; stUNKNOWN rintranhaverb (2-;( ")ach par(argc,+argv, "-paperr th" bi>n m, us mat gumatPS/,+y_,+stk_ =t; struct_not}e s, %s e s, %s->n m()> 0t-hd"GL; lt/=b} gray %f %G>n m")parile); s, %s et ofborhUNKNOWN rintranhaverb (2-;( ")ach par(argc,+argv, "-paper} gray %f %G>n m, us iding_PS/,+y_,+ss, %s e ofborhBUBBLE_not}e\n" e ,e=N)> 0odfd"GL; lt/=bx-enS dap"f(eh p ;ye ,e=N)> 0odfd"GL; lt/=by-enS dap"f(eh p llo) { 1e=N)> 0odfd"GL; lt/=b++snex x lo) { ilt:> rsbining"f(eh p ;alpha1e=N)> 0x /=bd"GL; lt/=b++snex x 03temlt:> rsbining"f(ergc,+ar); 1e=N)> 0x /=bd"GL; lt/=blnda onnri(orsbining"f(ergc,+arlo) { 2e=N)> 0odfd"GL; lt/=b++snex x lo) { ilt:se *dining"f(eh p ;alpha2e=N)> 0x /=bd"GL; lt/=b++snex x 03temlt:se *dining"f(ergc,+ar); 2e=N)> 0x /=bd"GL; lt/=blnda onnrise *dining"f(ergc,+y_,*codfp;"\x_,+y axix n m"nil =b; of(eqix umatms oi) NUtf( n mh lachar) 0); defaulqe>n m"nil =b; f(eh p lumh)LEx <(LEx < of(eumh)w_*dd s(w_*dd s)T_HEADERFILE")); j ++headara; verb (2-;( ")e*codfp; sa ma_I-28)mh"e -s ) FILE y} pilter) {nr (xpenrewind_enin "i letscruriates if t_d rewind_enin "is; ")_edng gntring('%s'on: %texp-;(m-1) lenw=(Cry umat->m)_ednlter)lenw=(ntr_d rewind_enin "i tf( fen min->y0 = = h_pries *sLI)" /iepbtmtd\n}-(*oid,;)d\n}-n rra; verb (2-;( ")e*codfp; sa ma_Tess,h"e -s ) FILE y} pilter) {nr (xpen+essnd_ene_nottess letscruriates if t_d +essnd_ene_not(ilterss letsc gntring('%s'on: %texp-;(m-1) lenw=(Cry umat->m+ess,)_ednlter)lenw=(ntr_d +essnd_ene_not tf( fen min->y0 = = h_pries *sLI)" /iepbtmtd\n}-(erss let,;)d\n}-n rra;noc *x> 0.0"y ,en->r,); soc CaR imagin'on: %texp-;(m-1) lenw=(D, dap =of pe(- (h;) ) in((r fa((r, ,en pay ,ee_not tf( fen min->y0 = = h_pries *sLI)" /ie,); x> 0.y0 = = h_pries *sLI)" //ie,); phaepng('%s'on: %te*n m_mene=N)> 0*n m_by0t-hd phae apa,; phaep ,en tf(e); *n m_men hvoid n mh) { im *i*codfp; sa ma_ "-paper phab+n mh {nr (x phaep ,e f( fen min->y = h_pries *s( figtm}%d n")") hea*n m_mene=N)> 0*n m_by0idd phae apa,;ALPHA_LINEARc,+y_,*inclu. phae>n m =ttn m_men h) =; pocnclu. phaet((_ =ttn m_men hvoid//scalh"e nnscrorastd >qnfen bscrFLT_MAX p ;) ed =N->x ve> 0sta ed rintranhnit_randoma ed ltdummhs;verb (2-;( ")ach par(argc,+argv,Inito "izx xx e iltePS/ ,en ten t*mainscrrandhnit_*main(*oid,;ck_ , } gr, ,en pay ,ee_not t-s ; ") fp" ggg('%syoff %fndef\ngc,+argv,Efen m nito "izx xxrandomx e ilte, (pbrtx x\x_,+y fen min->y h_pries *sLI)")" //ie pbtm>#ntructask t&2003-07-i+margip" gi++) 0tpbtm******ask t&2003-0fen 0tocnclu. letscrvoid//) ten tocnclu.lo) { i=llo) { 1en 0tocnclu. phab=;alpha1en 0tocnclu.n}-> 0); ); 1n-dummhs;verb (2-;( ")ach par(argc,+argv,T+snex x p,i(orsbiningp0)lo): %ld;alpha: %k_ ); n tocnclu.lo) { ,tocnclu. phafen 0t*mainscr****++snex xt&2003-0fen mh tocnclu.lo) { i=llo) { 2en 0tocnclu. phab=;alpha2en 0tocnclu.n}-> 0); ); 2;dummhs;verb (2-;( ")ach par(argc,+argv,T+snex x p,ise *diningp0)lo): %ld;alpha: %k_ ); n tocnclu.lo) { ,tocnclu. phafen 0t*mainscr****++snex xt&2003-0fen mh tocnclu. letscr* ss let;dummhs;verb (2-;( ")ach par(argc,+argv,Ceadar=ax x qua zses.n{nfen \x_,+y a t-s ;qix um> mh(ilter(q fen minaptf(q fen 2t&2003-0fen 0tn")") hear(q fen minaptf(q fen t&2003-0fen 0tnodscr* ss letomsumLl(e ,ena; ) t-s ;q fen m<>qnfen b)s'on: %teqnfen bscrqnfen >x vvvvv) ed =N eda; ) tottee h"e nn>x vvvvvh"e nnscr*mainm+(f 0t*mainscr++) e n 0t* fp" gu-s; ")")ae ( 0t*mainscrno *) mlenhaverb (= cpfp ach par(argc,+argv,%3d: %k_ ); cSt, qnfen /trn'tm tnodfen 0tnot--_not}e\n"-s ; ") s ano *) m2g('%s'on: %tes;verb (2-; %fndef\ngc,outma_C e ilterh"e -s a p *"d d")lter) {nr (x ") (\n", ) n rie 0tp *"Ll(e ,en- bmarrgi ") (\n", ) n rn: %tes;verb (1-; %fndef\ngc,outma_Sstdwess, fen m;e rrandomxs j %3d: %k_ );rn: %teeeeeeeeeeebcSt, qnfen b/trn'tm tnodfen 0t}r-28dvoin"-s ; ") s)n 0t* fp" gu-s; ")")asin "is; ")_ed)n 0t* fp" gu-s; es_a ma2)(ilterss let)n 0t* fp" gu-s; erss let)ma2) p *"grs nfen ) fpfp void set_teach_pch = &r;c / fp" g)est 3isemple_ed\nstroke esend: ") vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvoidentrys_(;i++ fp"iestontasemplevi ualn")ry} pyro/b a15331om/c sesrc/ s130k-dev/umat.c0100755000076400003100000003736707506137347020766 0ustar dblank/******************************************************** *eeeeeeeeeeeeeeeeeee***********************eeeeeeeeeeeeeeeeeee**********************vi ualn"*eeeeeeeeeeeeeeeeeee**********************-aptfsi ") /=bbess,ditch fpfnnri pe***s erreofTE: lter)*************n")") nex xxa* bt can#ntr 7-28)m tf(putr_dn#ntr holdsthe****************n")ordx =a;sybPS /=bbess,ditchy****th qua zses.n{nfen m****************na-a givspNOTEwe asen fpuif{ r meeee******************************************************************************************books)),PS/EPS3a ma ***************************** * Varaipul1.0 * Da * 1 Mar 1995 * * NOTE: Thing togachdpackaginingcopyruse_eduse ed ine ieizeate t * mayshouOftenappescintrific purposes.n];e ackaginanerawhole* or * ch ss erreof,atrnlets. scluded or Often usanyecomevrcial * appl canipulctio " writtnnaparmo permigra sinba oms toducvel_. * Nog togachspuffer ceduse cfing ackaginmayshoucopitenappecomevrcial * stribunipu. * * All comevel_1)uf*di/=ontathing togachdpackaginmayshoune tp)), erg * e-mail/ wiress 'lvq@cochlea.h* .fi'. * } iestedevrobs. erg,o* onessibedomedevrobs.c--/(ssibedomede ehtring. Rxx / #include 0i (secigth_xd"))anivp, "->xd l; ,+y, nuoidments* p, "->xh"e -s letscr* .h" hvoid//) { strh"e -s *mainscr* .h" h*mainm/) { strh"e -s aake_void//) { strd l; ,+y, naake_ ,+y,//) { str(usa_ lac bfi//) WINN o(FUNC)LEn *winnper(e* .h" heannpe,+(fp, "->xeannpe lac ean_hbuf[100 (semptt fp *BEL_EMPTY a, ) Nerdex,Nnoc, b aFILE *fp &}emptt fpaptf( **des ptf("EMPTY_LINE_,+y a/*m nito "izt aksih"e -s tablmhnfe}:aake_voidb=;al > &" gu-s; ma2)(iltaake_voidb= gntring('%s'on: %texp-;(m-1) lenw=(Cry um > =a; memoryn can# gu-s;\x_,+y_,+sca*"grs torastd >er}gi_}nake_voidoke\n dapu= 3;i_}nake_voidoktk_ =t ") lock_ ;i_}nake_voidoks, %s e \*/Osoms gr axake_voidok e ,e=N\*/Osomx ,en->rxake_voidokye ,e=N\*/Osomy ,en-->rxake_ ,+y, =;al > &" guytaake_void ma2)(iltaake_ ,+y, = gntring('%s'on: %texp-;(m-1) lenw=(Cry um > =a; memoryn can aksih"e y\x_,+y_,+scanil(&" gu-s; aake_void ma2)+sca*"grs torastd >er}g>rxake_voidokh"e -s = aake_ ,+y,// a/*mat->msics- ?(usahnfe}:aiscruriat(usa( ") (usa__tepw=(w" ma2)(iltai fp" ggg('%s'on: %texp-;(m-1) lenw=(0ry umat->m*********sics- :)lenw=(ntr ") (usa__tepp+y_,+scanil(&" gu-s; aake_void ma2)+sca*"grs torastd >er}gg>rxake_voidokaiscrfi//) ,-{winaee *****lt:sics- ?(usahnfe}:winaeDocuevelNi, aake_void ma )= Susena i-28)mh"e -s .hnfe}:voidmen eps(FILl(e ,en-next_petren mhs; "(ecigth_xd"))== let->flags.totsao_xd")))i++ tid== let->sumLl(e ,ena;}-n")") heatid6, \n *se> 0stavoidmen ano *) m2*a) hea= b seps_nnpe- bmargi*oidmengyesion:y} p */-nnpe- bmargi*oidmen_peean_hbuf03-0y_n mh(ilter({ ,-{nmpttb tf(put /s ,-{Sa; lt/=b(l)* fa***((ordx =a;sy /s s_FU->-;--t fp(aake_ ,+y,,}emptt )mh,-{ fpfp *"iaake_ ,+y,->**i [0]oc;-->y aake_ ,+y,->**i [1]oc;-->y ,-{A***th qua zses.n{nfen m *"iaake_ ,+y,->**i [2]oc;--.0*sLI)")" /)")"n")") hear({ b seps_n_hbuf.erdexid erdexsepT_FU->-;--t fp(s_n_hbuf./-nnpe,+y s ,-{Sa; lt/=b(l)* fa***((ordx =a;sy /s %->-;--t fps(aake_ ,+y,,}s_n_hbuf./-nnpe,+h,-{ fpfp *"iaake_ ,+y,->**i [0]oc;b s%N\*/Osomx ,en- aake_ ,+y,->**i [1]oc;b s/N\*/Osomx ,en- ,-{A***th qua zses.n{nfen m *"iaake_ ,+y,->**i [2]oc;sqrt(s_n_hbuf.di\n)*sLI)")" /)")",-{winaeenewsh"e ys CaR 90winaeD" guytai, aake_void, aake_ ,+y,,+y a t= TaksiantOies i-28)mh"e ys CaR 90voidmen ies *sseordar;3"on:y} p *ecigth_xd"))i++ mhs;verb (= com*codfd(, ) tnod--;3")" /=bcha *ecigth_xd"))i++ haverb (= cpfp ac{com*codfd(, ) to)rd i*codfp; sa ma_mat->m ier}gi_}nil(&" gu-s; aake_void ma p *"grs void mapfp wentrysbtm1; -ma; white_)reshold =c1ot;-ma;rewind_en;d =c1ot;-ma;ewind_eni;d =c1ot;- ") rewind_en;d =p, "->xh"e -s let, *mainm+(fp, "->x* .h"e#includ#inclu ansep*"gcmar,Nnoskip a, ) Nid\n}-n *s letscr*mainscrorastd >*"gcmargin->x cOatrixr(umat*codfp; seps_ ,en e ,en*codit; averagin=(0ry(& *medeanw=(0ry(&FILE *tf( fp*codfp; sa ma_ ,en tf( fi;c /globay_ copenrewind_ens: %OPT_FU2-= ")drawblocksbtm0ri> DATA(expract_teach popenrewind_enis: %OPT_FU2-= ")drawblocksbtm0ri> 0i (expract_teach p ; ") rewind_ens: %OPT_FU2-= ")drawblocksbtm0rOUT DATA(expract_teach pop)d\n}-n")ms oi) NUtf( n mh lachar) 0); defaultd\n}-old =c; of(eh p ;coskip = ,en*codit; averagin=(0ry(& *medcoskip=(0ry(&FILE ano *) mT_HEADERFILE")); j ++headara; letscruriates if t_d rewind_enin "is; ")_edng gntring('%s'on: %texp-;(m-1) lenw=(Cry umat->m)_ednlter)lenw=(ntr_d rewind_enin "i tf(*"gcmargin->y0 = = h_pries *sLI)" /(expracverb (2-;( ")e*codfp; sa ma_C e ilterh"e -s a FILE y} pilter) {nr (xpenewind_enin riengfima* uriates if t_d dynam cally,SF-s ; ") fp" ggg('%s'on: %texp-;(m-1) lenw=(0ry umat->mOMaa few ilenw=(ntr_d ewind_enin ries_ma*"gcmargin->y0 = = h_pries *sLI)" /=bcha ; ") lock_ sd; structm2*allocxp-;(m-1) lenw=(Few iint -W ed a mape(usagi[ r_d ewind_enin ries_*"gcmargin->y0 = h_pries *sLINE "is; ")_edoke\n dapu! *\*/Osome\n dapm2*allocxp-;(m-1) lenw=(Dlets****(((((((((b!le))fp: *"gdi\n}-acs,enS dap "n ries_*"gcmargin->y0 = h_pries *sLINE "ipbtm>#ntructask t&2003-07-i+margi*oid,;)d\n}-n riepbtm******ask t&2003-0fenpar(aroes ied skip nmpttb tf(pusis; w * yfe}:,); soskip)aR 90void->flags.skip&nmpttb=N->x v letscr*mmputp_vi ual rewi(&2003-07- ") rewind_en) r-28dvoi"is; ")_ed)n 0t* fp" gu-s; es_a ma2)(ilt")")aen 0t* fp" gu-s; ")")ae ( *"grs *"gcmar)") void set_teach_pch = &r;c / fp" g)est 3isemple_ed\nstroke esend: ") vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvoidentrys_(;i++ fp"iestontasemplevston")ry} pyro/b a14361om/c sesrc/ s0771-dev/umat.c0100755000076400003100000003736707506137347020766 0ustar dblank/******************************************************** *eeeeeeeeeeeeeeeeeee***********************eeeeeeeeeeeeeeeeeee**********************vston"*eeeeeeeeeeeeeeeeeee**********************-Vi ual zses.n{*elf-Organiz Mim-eeeeeeeeeeeeeeeee******************************************************************************************books)),PS/EPS3a1*********************************************************books) 7 Ap * Varaipul1.0 * Da * 1 Mar 1995 * * NOTE: Thing togachdpackaginingcopyruse_eduse ed ine ieizeate t * mayshouOftenappescintrific purposes.n];e ackaginanerawhole* or * ch ss erreof,atrnlets. scluded or Often usanyecomevrcial * appl canipulctio " writtnnaparmo permigra sinba oms toducvel_. * Nog togachspuffer ceduse cfing ackaginmayshoucopitenappecomevrcial * stribunipu. * * Nog togachspuffer ceduse cfing ackaginmayshoucopitenappecomevrcial * stribunipu. } iestedevrobs. * erg,o* onessibedomedevrobs.c--/(ssibedomede ehhtring. Rxx / #include e#include 0)x /=bpMSF-,d+ nito ".lnda onbPS} gray %f %gi[ ula{i++"umat -e toducv EPS/PS pis(urandn18+ gt*******b s j canrandomxcsebt**generae)).-t ur-acs, ")str,d++""**-apx n m >n m ,d+ .*n mhof phabdec (sg t btx /(def) n m nv,PSe_t.,d++" ++"{s(usnla ae irt_popa fF-,snlasho ?(usaopa gi[ ula{s(usnla s+ r t s+ gt** s+ r tbetwesp snlasho str,d++" -medeawentrysbtm1; -ma; white_)reshold =c1ot;-ma;rewind_en;d =c1ot;-ma;ewind_eni;d =c1ot;- ") (\n", ) ,+(fc1ot;-snlasho ", ) ,+(fc1ot;- phaep, *randep,+(fp, "->xh"e -s letscrrgvr, *mainscrorastd >nsep*andomizoidum->((fix ((w_*dd s ai) NUil* .h"e#includ#inclu a, ) Nid\n}-b=N->x v, ) Nsnlasho " s+ r ai) NUilsnlasho " sac bsnlascrorastd >nsepsnlae>n m ai) NUil*n m apach*n m_ments00 (sefen min->x *s letscr*mainscrorastd cOatrixr(umat*codfp; seps_ ,en e ,en*codit; averagin=(0ry(& *medeanw=(0ry(&FILE *tf( fp*codfp; sa ma_ ,en tf( fi;c /globay_ copenrewind_ens: %OPT_FU2-= ")drawblocksbtm0ri> DATA(expract_teach ppopenrewind_enis: %OPT_FU2-= ")drawblocksbtm0ri> 0i (expract_teach p ; ") (\n", ) s: %OPT_FU2-= ")drawblocksbtm0rOUT 0i (expract_teach p tocnclu.lo) { i=lms oi) NUtf( n mh lachar) 0); defaRUNNING_LENGTHact_teach;rn: %teeeeeeeeeeeeeeeeeeeg of(exprocnclu. phab=;a o-> NUtf( n mh lachar) 0); defaTRAINING_ALPHAact_teach,+y s0tocnclu.n}-> 0); a o-> NUtf( n mh lachar) 0); defaTRAINING_RADIUSact_teach,+y( *andeps: %OPT_FU2-= ")drawblocksbtm0rRANDOMnil =b; of(e*andomizoi=lms oi)*andepf(eh p lxix n m"nil =b; ofa )= snlasho s yfe}:snlasho ", ) s: %OPT_FU2-= ")drawblocksbtm0r"-snla ae "nil =b; of(esnlasho " s+ r s: rn: %ms oi) NUtf( n mh lachar) 0); defaulsnla s+ r old =c; of(eh p ;snlae>n m =y0 = h> 0od_by0t-hdsnlasho " apa,; NUtf( n mh lachar) 0); defaulsnla>n m"nil =b; h p ; lumh)LEx <(LEx < of(eumh)w_*dd s(w_*dd s)T_HEADERFILE")); j ++headara; (snlasho " s+ r *tf( fp*codfp (snlasho ", ) s:n mh) { im *snlasho ", ) s: ") (\n", ) ,+ *i*codfp; sa ma_snlasho ?(usa ied spec td, us lenw"nisnlasho ", ) )*s( figtm *snlas: )> 0tnlasho (snlasho ", ) ,esnlasho " s+ r ,;snlae>n m ,en tf(e); snlas:n mh) { i fi;c_l_not_(1)LEn-sverb (2-;( ")e*codfp; sa ma_I-28)mh"e -s ) FILE y} pilter) {nr (xpenrewind_enin "i letscruriates if t_d rewind_enin "is; ")_edng gntring('%s'on: %texp-;(m-1) lenw=(0ryumat->m)_ednlter)lenw=(ntr_d rewind_enin "i tf( fen min->y0 = = h_pries *sLI)" //ie,)verb (2-;( ")e*codfp; sa ma_C e ilterh"e -s a FILE y} pilter) {nr (xpenewind_enin riengfima* uriates if t_d dynam cally,SF-s ; ") fp" ggg('%s'on: %texp-;(m-1) lenw=(Cry umat->mOMaa few ilenw=(ntr_d ewind_enin ries_ma fen min->y0 = = h_pries *sLI)" //ie,); ") lock_ sd; structm2*allocxp-;(m-1) lenw=(Few iint -W ed a mape(usagi[ r_d ewind_enin ries_ fen min->y0 = h_pries *sLINE "is; ")_edoke\n dapu! *\*/Osome\n dapm2*allocxp-;(m-1) lenw=(Dlets****(((((((((b!le))fp: *"gdi\n}-acs,enS dap "n ries_ fen min->y0 = h_pries *sLINE "ipbtm>#ntructask t&2003-07-i+margi*oid,;)d\n}-n riepbtm******ask t&2003-0fenpaocnclu.snlasho ?=;snla ppopenit_randoma*andomizo ma )= taksi* .h" b!le)) = nnrandomx) yfe}:,); *andep)aR 90void->flags.random_) in->y ie,); phaepng('%s'on: %te*n m_mene=N)> 0*n m_by0t-hd phae apa,; phaep ,en tf(e); *n m_men hvoid n mh) { im *i*codfp; sa ma_ "-paper phab+n mh {nr (x phaep ,e f( fen min->y = h_pries *s( figtm}%d n")") hea*n m_mene=N)> 0*n m_by0idd phae apa,;ALPHA_LINEARc,+y_,*inclu. phae>n m =ttn m_men h) =; pocnclu. phaet((_ =ttn m_men hvoid//s0t*mainscr****++snex xt&2003-0fen mhhaverb (2-;( ")e*codfp; sa ma_C e ilterh"e -s a p *"d d")lter) {nr (x ") (\n", ) n riep *"Ll(e ,en- bmargi ") (\n", ) n r28dvoi mas; ")_ed)n 0t* fp" gu-s; es_a ma2)(ilt")")aen 0t* fp" gu-s; ")")ae (ra; (snla-;( ")eil(&tnlasho (snla ma p *"grs nfen ) fpf dblankoidentrys_(;i++ fp"iestontas.ipyro/b a2365pyr77120160127220-dev/umat.c0100755000076400003100000003736707506137347020766 0ustar dblank= stondevrobs.huse -------------use june 14, 2 a2use Daniel Sprou ,;sprou @sccu.swarthmore.eduuse ***** tondevrobs.cuse ---------------------------------- t /sc%moduer) sc%{essibedomedevrodevrobs.hnessibedomedevrobs.c--/(ssibedomede e fpf.h>)= WKV 2 a3-07-28t /s%pfp //% c-*i er.i % tn mmaps.i % carrays.i %array_t((_adapstrn'tm,rn'tmarray) %array_t((_adapstpc rt,pc rtarray) %array_t((_adapsti ,i array) %array_t((_adapstc1ot whiarray) %array_t((_adapstc1ot*,c1ot0750array) //% ce =a;d+s); "*rginil(i*$1)) //%c _ ics- _ > =a;_ ludd+s); "*x vert *seciNUnil(i*$1)) //p)* ) Ner white_ d")l((_adaps %tn mmapti ) white_ fpu{d ert i, ludn- ,/Check; apad ef(!PyLapa_Check($7-28)am2*a PyErr_SetS (PyExc_Tn mEfen ,p"Ned a apa_,+y *"grs torast s( f s(sizoi=lPyLapa_Sludd$7-28)aid emin->x $1e=Nd+s); "*) m > ((sizo+1)*sizoofd+s); "h,+y (i=0; i< ludn{iram2*a PyObj!le *oi=lPyLapa_GetItemd$7-28) ve,+y ef(PyS _Check(oam2ni: $1[i]i=lPyS _AsS (o,+y n")"2*a PyErr_SetS (PyExc_Tn mEfen ,p"Lapa m07Often us s_,+y nil(i$1,+y *"grs torastd ( f } $1[i]i=lorastd} //c nup); dumacs,e =a;d whsp /=bwrapp*** ((_adap( fi;s. %tn mmapteil(; d) white_ fpu{d efi$1, nil(i$1,+y} //d")*"grs t fpfpy} pi(* ((_adap %tn mmapt ic) white_ {d ert i;d efi; d2y_n mh)*"grs tPyLapa_Newc /g $resi=lPyLapa_Newc; d2,+y (i=0; $1[i]iano *) n{iram*a PyObj!le *oi=lPyS _F} pS ($1[i],+y PyLapa_SetItemd$res, i, o,+y } y} specifyCYCLIC( ") ma //* ++sne_y} pe #ntructask t) specifyINVERSE_Tegma //* ftei) NUim>#ntructask t) specifyNO_TRAIN") ma //* 7-28)_onet) specifyTRAIN")eeegma //* 7-28)_onet) specifyREGULAR( ") ma//* )> 0reg_tcou er(), )> 0reg_mcou er() specifyCONSEC")eeegma//* )> 0fteiec_tcou er(), )> 0fteiec_mcou er() specifyMAX_CONSEC"2ma//* )> 0maxfteiec_tcou er(), )> 0maxfteiec_mcou er() specifyT struct 3 specifyT stRECT 4 specifyNfborhBUBBLEeeeg specifyNfborhGAUSSIAN 2eaea /e --------------- toe lets ) NUiures ---------------------------t /sc{ strd l; ,+y, *allocx /=bpM*-*i ,en tundap(fp*codfp nbpM*DERFILarray;p*codfp nbpMDERFI*sLI)" MDER*sLI)"pc rt ;cse_of a sLI)"pc rt ;w_*dd sLI)"p strd l; ,+y, nies sLI)" whitpM*from; ten t{ str(ux-*i *fix xh"e -s fp*cpc rt enS dap;*codfpr(ar\n dapubPS /=bh"e ys CaR pc rt ck_ ; = tr th" bi>n ms CaR pc rt s gr = } grayu %f %G CaR pc rt ,en pay ,encodfpr(ar\n dapsybPS /=bmape CaR p strd l; ,+y, n ur-acs;fpr(a ur-acs,h"e ys CaR p strd l; ,+y, nl(e ,enafpr(a-*i er priese -s /x v, ) Ncse_oo***d;*codfpr(acsebt**lt: btm oo***dr_dn#se -s apach/x v, ) Ncse_l(e ,enafpdfpr(acsebt**lt:#se -s * lets et; -paper CaR p str{en tunsigsanyect oo**/=b0ts* unsigsanyect totsao_xd"));en tunsigsanyect random_) ; en tunsigsanyect skip&nmptt; en tunsigsanyect fpf); j ++; en } flagsts00 (slap fpdfpr(ahowrm mg\n s : *"ga tf(pusibesp CaR p str(usa_ lac bfi/fpr(alter) lac can ter) PS} j ++ch/x v, ) Nid\n}-n fpdfpr(ahowrm m btm d")*"LE y} pilter)=bpone g\n ch/xedeap, "->x* .h"e#includ{aR pc rt ck_ ;aR pc rt s gr aR pc rt phae>n m aR MAPDIST(FUNC)LEn *mapnapa;fpr(a eadar=atm napaancetbetwesp mwoi fpf /x vDIST(FUNC)LEn *napa;fp fpdfpr(a eadar=atm napaancetbetwesp mwoib!le)) = /x vNfborhADAPT nie %s-adape;dfpr(aadapes;w_*dd sm /x vVECTORhADAPT nb!le))-adape;dr(aadapepone b!le))m /x vWINN o(FUNC)LEn *winnpe;pdfpr(a ((_adap(d")lt***winnper /x vALPHA_FUNC;- phae ((_;x vALPHA_FUNC;-n}-> 0e ((_;ma//* devrobs : cks ocx /=bpn}-> 0 fpdfpr(a nito ".lnda on(*****OM)hnfe}:a /=bpalpha fpdfppr(a nito ". phab } ch/x v, ) Nlo) { fpdfppr(alo) { ilt:*+snex x h/x v, ) Ncou ;ma//* ur-acs, +snex x teraes.n,i by devrobs /=b s ocdoublmhqnfen > fpdfppr/ devrobs fen mUtf(kx xe}:a /=bp fen _fale));ma//*dittos00 (sknn fpdfpp = } aress,} grayu s CaR p strh"e -s *main,+(fp, "->xh"e -s let ai) NUilsnlasho " sac bsnlasho ag\n _ils750im>iepw=endm>iep;xedeap, "->x* .h"e#inclu_cou erud{aR p se,o* .h"e#include* .h"of(eunsigsanyect ***tcou ers;dr(a3:++snex x cou erudp***evr nMaa CaR unsigsanyect ***mcou ers;dr(a3:mappx x cou erudp***evr nMaa CaR ect cou eru_x ,en->rect cou eru_y ,en-edea/e -------------------ty} pie xh"e -s uriates if t white_tepp+yes ernfs of,* fp" gu-s; p, "->xh"e -s h"e -s p+yes ernfp strd l; ,+y, neps(FILl(e ,en-p, "->xh"e -s h"e -s ,aFILE *pp+yes ernfp strd l; ,+y, nies *sseordFILE *pp+ya/e -------------------ty} pievrobs.c--: ------------------------------ Ca/e -------------------------------------------------------------------t /sces ernfp, "->xh"e -s lnex it_*main(p, "->xh"e -s let, ,cs,ck_ , fpdfpp ert c gr, ert ,en paert y ,ee_nes ernfp, "->xh"e -s randhnit_*main(p, "->xh"e -s let, ,cs,ck_ , fpdfpp ert c gr, ert ,en paert y ,ee_na/e -------------------ty} pievrodevrobs.h: --------------------------- Ca/e -------------------------------------------------------------------t /sces ernf->((winaeD" gu,en-p, "->xh"e -s bmargic1ot;- ") (\n", ) p+yes ernfs of,pbtmatrixrs(fp;rc+yes ernfFILE *T_FU-ILE(fp;rc+yes ernfs of,nil(&"ILE(FILE *e_na/e ---------------------t lets et;m ipar=axap(l((_adaps -----------------t /sces ernfp, "->xh"e -s hnit_e xh"e -s c+yes ernfm1; -ddto&e xh"e -s let, p strd l; ,+y, nl(e yp+yes ernfp strd l; ,+y, nmake_void%->-;--w_*dd ed_fromdatrn'tmM*-*i , fpdfpp pc rt w_*dd , pc rt *frompaert en pni: n white_ fpc+yes ernfs of,nil(&e -;-trn'tmM*-*i e_na/e ---------------------t fpum ipar=axap(l((_adaps -----------------t /ses ernfm1; aptf( **des ptf(c1ot;-s-he_nes ernfc1ot;-aptf( **des (ics,ptfc+yes ernfm1; csebt*_of-t fps(c+yes ernfs of,nil(&t fps(c+y //es ernfm1; pbtmDERFILe x* .h"e#inclu_cou erud*ftei) NUim>#ntructask tp, "->xh"e -s bmarg fpdfpp pc rt phaemmar,N fpdfpp pc rt n}-> 0emmar)")es ernfs of,nil(&>#ntructask tp, "->x* .h"e#inclu_cou erud*c+yes ernfm1; hnit_++snex x_se* or tp, "->x* .h"e#inclu_cou erud*2003-07 a /=bpalpha_0,cx /=bpn}-> 0_0,c, ) Nlo) { g fpdfpp , ) Nqnfen _s(FIowc+yes ernfm1; pbtup&tnlasho (s, "->x* .h"e#inclu_cou erud*2003-07 fpdfpp c1ot;-snla(usa_prenix,a, ) Ner+ r _na/e -------------------tcou erum ipar=axap(l((_adaps -----------------t /ses ernfs of,pbtup&cou eru(s, "->x* .h"e#inclu_cou erud*2003-0)")es ernfs of,nil(&cou eru(s, "->x* .h"e#inclu_cou erud*2003-0)")es ernfs of,upd=a;_cou eru(unsigsanyect ***cou eru vert * ur-_((ords vni: ert *last_((ordsc+yes ernfm1; )> 0reg_tcou er(s, "->x* .h"e#inclu_cou erud*2003-07vert * (ordsc+yes ernfm1; )> 0fteiec_tcou er(s, "->x* .h"e#inclu_cou erud*2003-07vert * (ordsc+yes ernfm1; )> 0maxfteiec_tcou er(s, "->x* .h"e#inclu_cou erud*2003-07vert * (ordsc+yyes ernfm1; )> 0reg_mcou er(s, "->x* .h"e#inclu_cou erud*2003-07vert * (ordsc+yes ernfm1; )> 0fteiec_mcou er(s, "->x* .h"e#inclu_cou erud*2003-07vert * (ordsc+yes ernfm1; )> 0maxfteiec_mcou er(s, "->x* .h"e#inclu_cou erud*2003-07vert * (ordsc+yyes ernfm1; )> 0cou er(s, "->x* .h"e#inclu_cou erud*2003-07v : ert *((ords vpc rt mmar,Nect cou ere>n m ,ea/e ------------------:++snex x/mappx x l((_adaps ----------------------t /sces ernfert *7-28)_onets, "->x* .h"e#inclu_cou erud*2003-07 p strd l; ,+y, n tf(putrpc rt mmar,N : ert *last_((ords,Nect upd=a;_cou er_flagc+yes ernfm1; *map_onets, "->x* .h"e#inclu_cou erud*2003-07N : p strd l; ,+y, n tf(putr : ert *last_((ords,Nect upd=a;_cou er_flagc+yes ernfm1; *++sne_onets, "->x* .h"e#inclu_cou erud*2003-07N : p strd l; ,+y, n tf(putr : ert *last_((ords,Nect upd=a;_cou er_flagc+y/*yes ernfp strd l; ,+y, n++sne_y} pe x* .h"e#inclu_cou erud*2003-07N : : p strh"e -s let, pc rt mmarc+y /ses ernfp strd l; ,+y, n++sne_y} pe x* .h"e#inclu_cou erud*2003-07N : : p strh"e -s let, pc rt mmarc+yes ernfp strd l; ,+y, nmap_y} pe x* .h"e#inclu_cou erud*2003-07N : : p strh"e -s let _na/e -------------------t++snex x timx x l((_adaps ----------------------t /sces ernfs of,timx x_s750i(s, "->x* .h"e#inclu_cou erud*2003-0)")es ernfs of,timx x_s7op(s, "->x* .h"e#inclu_cou erud*2003-0)")es ernfm1; )> 0++snex x_>iep(s, "->x* .h"e#inclu_cou erud*2003-0)")a/e -------------- l((_adaps )> t ) Nerfo (pbut**OMls75te ----------t /sces ernfx /=bp)> 0 fen ts, "->x* .h"e#inclu_cou erud*2003-0)")es ernfrn'tmM*)> 0a_adv=axap_levfps(s, "->x* .h"e#inclu_cou erud*2003-07 ert *((ords vx /=bpn}-> 0, pc rt mmarc+yes ernfrn'tmM*)> 0levfps_by0 fen ts, "->x* .h"e#inclu_cou erud*2003-07 fpdp strd l; ,+y, n tf(putrrn'tmMtolerancec+yes ernfp strd l; ,+y, n)> 0mmarl_b!le))-p, "->xh"e -s bmargiert * (ordsc+yes ernfs of,n%%%%Dd xh"e -s let)")a/e ------r* ss ) N------t /sces ernf+s); ")> 0fromLe 0lERFILe tem(myarr, i) eleftmyarr[-5:]y_n 'pc rt':y *"grs t .pc rtarray_)> tem(myarr, i) eleftmyarr[-3:]y_n '%%%':y *"grs t .i array_)> tem(myarr, i) else:y *aise Tn mEfen ,pmyarr def build_ apa(myarr,nitems): my apac= []y = nnrange(0,nitems): my apa.app*nd(ptr } (myarr,i)) *"grs tmy apad """ Mo*"d d")+ess,3 (WKV 2 a3-07-28) p0oc;build_rn'tmLarray([13.57, 12.61,;--.38,;--.99, 399.77]) p1oc;build_rn'tmLarray([19.58,;13.08,;--.17, -0.84, 400.03]) p2oc;build_rn'tmLarray([29.36, 38.69,;--.10, -0.87, 405.21]) p3oc;build_rn'tmLarray([19.82, 27.08,;-2.35,;-3.70, 404.86]) fromoc;build_pc rtLarray([0,0,1,0,1]) """ .pbtmatrixrs() penrewind_ens oc;"ex. le" enrewind_enis oc;"ex.ewi" ") (\n", ) 1oc;"+ess1.ewi" ") (\n", ) 2oc;"+ess2.ewi" phab oc;0.02 lnda onoc;4.0 )lo)nb oc;5b a ps(Fnb oc; ); 2e=N2.0 def +ess1(): #)+ess,1: #)*OM's /=belib!le)) =a FILE nri(} piex.ewi. **OMlicopyrnt++sne"d us #)a d #ntructask t bmargic .LINEARgic .LINEARpd .i it_++snex x_se* or t2003-07N pha,pn}-> 0, reciNUps(Fpd .timx x_s750i(2003-0)d .t+sne_y} pe 0++snex x_>iep(2003-0)d n%%%%;"++snex x se* or *mmple * ", >iepw="se *ds"y fen min* .winaeD" gu,en- bmargi ") (\n", ) 1pd eft"nfen ): n%%%%;"\nfew i" +o ") (\n", ) 1o+)" could ed ineginaner" *"grs t1s #%%%%;" ics- ?ginanerad")" +o ") (\n", ) 1s #%%%%;" ver ,isee)+essndevrobs.c. ics- " #)c nupd .* fp" gu-s; es_a d .* fp" gu-s; ")")aen .nil(&>#ntructask t2003-0) # WKV 2 a3-07-28 s(n%%%%;"+ess,1 succesfully *mmple " *"grs t0 def +ess2(): s(n%%%%;"+ess,2: p+snesy} pilter7-i+marlhnit.ty} pie #ntructask t bmargic .LINEARgic .LINEARpd .i it_++snex x_se* or t2003-07N pha,pn}-> 0, reciNUps(Fpd .timx x_s750i(2003-0)d .t+sne_y} pe 0++snex x_>iep(2003-0)d n%%%%;"++snex x se* or *mmple * ", >iepw="se *ds"y fen min* .winaeD" gu,en- bmargi ") (\n", ) 2pd eft"nfen ): n%%%%;"\nfew i" +o ") (\n", ) 2o+)" could ed ineginaner" *"grs t1s #%%%%;" ics- ?ginanerad")" +o ") (\n", ) 2 #)c nupd .* fp" gu-s; es_a d .* fp" gu-s; ")")aen .nil(&>#ntructask t2003-0) # WKV 2 a3-07-28 s(n%%%%;"+ess,2 succesfully *mmple " *"grs t0 def +ess3(): n%%%%;"+ess,3:t*mainsy} pilter, es_a/p+snesdynam lly, view SRN levfps"s(n%%%%;"----------------------------------------------------------------"s #)Mo*"d y} piabo*" WKV 2 a3-07-28 p0oc;build_rn'tmLarray([13.57, 12.61,;--.38,;--.99, 399.77]) p1oc;build_rn'tmLarray([19.58,;13.08,;--.17, -0.84, 400.03]) p2oc;build_rn'tmLarray([29.36, 38.69,;--.10, -0.87, 405.21]) p3oc;build_rn'tmLarray([19.82, 27.08,;-2.35,;-3.70, 404.86]) fromoc;build_pc rtLarray([0,0,1,0,1]) s ainscr* .uriates if t_d (\n", ) pd eft" ") f" *) "): n%%%%;"\nOMaa few i" +openewind_enis+)" could ed ineuriaei" *"grs t1s #includcr* .ftei) NUim>#ntructask t bmargic .LINEARgic .LINEARpd .i it_++snex x_se* or t2003-07N pha,pn}-> 0, reciNUps(Fpd letscr* .hnit_e -;-tp0)pd .-ddto&e -;-tp1)pd .-ddto&e -;--w_*dd ed_fromdatp2, 3, frompa5)pd n .make_void%->-;--w_*dd ed_fromdatp2, 3, frompa5pni: [])) # WKV 2 a3-07-28 .-ddto&e -;-tp3))d n%%%%;" lets et:" .n%%%%Dd 0"ILE(pd e-28)mcr* .rps(FILl(e ,en-next_pp) ast_((ordsoc;build_%%%Darray([-1,-1]) # WKV 2 a3-07-28 s(e> 0s(e-28)mano one): n%%%%;"e-28):[ r_d28)d #((ordsoc; .t+sne_onet2003-07ver28)ad ((ordsoc; .t+sne_onet2003-07ver28), last_((ords,N1) # WKV 2 a3-07-28 .bele _i array(last_((ordsc # WKV 2 a3-07-28 ast_((ordsoc;((ordso# WKV 2 a3-07-28 d #p*i oc; .n .void%->-;--p*i _)> (er28)ad p*i oc; .void%->-;--p*i _)> (er28)ad my apac= build_ apa(-*i ,5pd ics- ?cr* .)> 0mmarl_b!le))- bmargic(ordsc n%%%%;"e-28): ["pni: ptnnri y apa:d n%%%%;"%.2f" % (pt), n%%%%;"]"y ef( ics- ?c f" *) "): #%%%%;" ics- ?null"d #p*i oc; .n .void%->-;--p*i _)> ( ics- ad p*i oc; .void%->-;--p*i _)> ( ics- ad my apac= build_ apa(-*i ,5pd #%%%%;"mapsad")mmarl: ["pni: ptnnri y apa:d n%%%%;"%.2f" % (pt), n%%%%;"]ic(ords: ([ rptr } (((ords,0) rptr } (((ords,1) r")"d tf(put=r_d28)d e-28)mcr* .ies *sseordp)d n%%%%;" ast:mappx x erreofTE followx x gau* oan SRN a_adv=axaps:" levfps?cr* .)> 0a_adv=axap_levfps(2003-07-i+ords,N); 2,o# ast_((ords?ni: n * .NfborhGAUSSIAN) levfps_ apac= build_ apa(levfps,96pd .bele _rn'tmarray(levfps) # WKV 2 a3-07-28 .bele _i array(last_((ordsc # WKV 2 a3-07-28 d emin-y levfpnnrilevfps_ apa:y ef(i%24?c f12): #%%%%;" ", n%%%%;"%.2f" % (levfp), eminis+)1y ef(i%12y_n mh: #%%%%;""d n%%%%;" ast:mappx x erreofTE followx x dynam fen mSRN a_adv=axaps:" levfps?cr* .)> 0levfps_by0 fen t2003-07- tf(putr0.0) levfps_ apac= build_ apa(levfps,96pd .bele _rn'tmarray(levfps) # WKV 2 a3-07-28 d emin-y levfpnnrilevfps_ apa:y ef(i%24?c f12): #%%%%;" ", n%%%%;"%.2f" % (levfp), eminis+)1y ef(i%12y_n mh: #%%%%;""d #)c nup (mostly ginaneraby WKV 2 a3-07-28) arrinritp0 rp1,;p2, p3): .bele _rn'tmarray(arr) .nil(&"ILE(ppd .bele _pc rtarray(from) s .* fp" gu-s; ")")aen # .* fp" gu-s; es_a d .nil(&e #ntructask t2003-0) s(n%%%%;"+ess,3 succesfully *mmple " *"grs t0 def c nup(): .nil(&t fps(c *"grs t0 fen min+ess1() ef(nfen ): n%%%%;"+ess,1 abor " fen min+ess2() ef(nfen ): n%%%%;"+ess,2 abor " fen min+ess3() ef(nfen ): n%%%%;"+ess,3 abor " fen minc nup() ef(nfen ): n%%%%;"C nup had fen s"s n%%%%;"+essx x comple " f dblankoidentrys_(;i++ __hnit__.ppyro/b 221177510424515732-dev/umat.c0100755000076400003100000003736707506137347020766 0ustar dblank# daniel sprou ,;june 24, 2 a2u# /=b ed june 17, 2 a2 (yeel* an) ;i++ i pytho)n18+ read") .po,se> ch i itx /f * rs ta low-levfp ;ytho)n18+ read") om-pak c litryry. ter) mple followx x (l)* es: # # s# b!le))s# e env imp rt >iepw=>n mssy} pioosixpath imp rt exapas imp rt n NOTE s .pbtmatrixrs() # c pyru worry (pbut*n fhange fpdfpp #cdoug, p+07Oepw=> pbtsOatrixr -e toducv fpdfpp #ca invariryumy} pievrad") s l)* P Efen (Atarmo pmEfen ): """ Us"d d")(FIi =a; senatarmo pm ren}-acea assigsmacs,faterdallocx a ;i++ obj!le. """ l)* V!le))Efen (Atarmo pmEfen ): """ Us"d d")(FIi =a; senatarmo pm ren}-acea assigsmacs,faterdallocx a b!le))mobj!le. """ l)* D ch hasibesp depre =a;d w py SWIG 1.3. c-*i er.i #licopyrenewsSWIG -*i er litryry iew. Ne"d d")ltnd a bet er way d" #cdducvmcifyC=>n ms. (so)nDoug fhecks,pyre ast:3a 5 ele #li tmyarr* +n msisibeca SWIG en ") -*i ersad")n%%miadvfyC n ms suchNOTEert *,cdoublmh***,c****(white_ * )repre =axap a7Often uss,pyrea_auxr } cbPS /=b-*i er and a >n m >ag. F))s# extf(putr /=bSWIG repre =axapcbPS /=babo*" -*i ersa llterlike followx x: _81012_p_i , _8e124_ppp_doublm, f8ac_pp_(whi. se repre =axap =a bPS n m strinri;ytho). def _ptrpbt(myarr, tem, i):d """ Gdvfn senarray,c** tem, and a)n18dexw=> ((_adap(ussengcopyr tem ert") array)=bpoosiadap(usdex ch . Us"rsapc uld ed evft => ((_adap.d """ eftmyarr[-5:]y_n 'rn'tm':ydfpp .rn'tmarray_s> tem(myarr, i, tem-;( ")eleftmyarr[-5:]y_n 'pc rt':ydfpp .pc rtarray_s> tem(myarr, i, tem-;( ")eleftmyarr[-3:]y_n '%%%':ydfpp .i array_s> tem(myarr, i, tem-;( ")eleftmyarr[-4:]y_n '(whi':ydfpp .c1ot0750array_s> tem(myarr, i, tem- #ca ray)bPS whiac er -*i ers;( ")else:ydfpp *aise Tn mEfen ,pmyarr ydfpp def _ptr } (myarr, i):d """ Gdvfn senarray and a)n18dexw=> ((_adap(*"grs copyr } cse))rdallocatn18dexpoosiadap(u. Us"rsapc uld ed evft => ((_adap.d """ eftmyarr[-5:]y_n 'rn'tm':ydfpp *"grs t .rn'tmarray_)> tem(myarr, i) ( ")eleftmyarr[-5:]y_n 'pc rt':ydfpp *"grs t .pc rtarray_)> tem(myarr, i) ( ")eleftmyarr[-3:]y_n '%%%':ydfpp *"grs t .i array_)> tem(myarr, i) ( ")eleftmyarr[-4:]y_n '(whi':ydfpp *"grs t .c1ot0750array_)> tem(myarr, i) #ca ray)bPS whiac er -*i ers;( ")else:ydfpp *aise Tn mEfen ,pmyarrydfpp def _ptrc (te( n m,lhnit, nitems): """ Gdvfn sS n m and pyrensebt**lt:#le w=> ((_adap(c (tes;( ")senarray bPS /=bspec tdS n m and nsebt**lt:#le .d hnit -e tosisiun . Us"rsapc uld ed evft => ((_adap.d """ eft>n m == "pc rt":ydfpp *"grs t .new_pc rtarray(nitems) ( ")eleft>n m == "rn'tm":ydfpp *"grs t .new_rn'tmarray(nitems) ( ")eleft>n m == "i ":ydfpp *"grs t .new_i array(nitems) ( ")eleft>n m == " whi":ydfpp *"grs t .new_c1ot0750array(nitems) #ca ray)bPS whiac er -*i ers;( ")else:ydfpp *aise Tn mEfen ,p>n ms .ptrc (te)= _ptrc (te .ptrpbt = _ptrpbt .ptr } c= _ptr } def apades arr(my apa,>n m : """ F((_adap(d") **ert ;ytho)n apacert")a c a ray/-*i er. Us"rsapc uld ed evft => ((_adap.d d PARAMSd y apa: ;ytho)n apad >n m ,:.*n mhof apacele """ nitemsi=llo)(my apa) yarri=l .ptrc (te( n m,0,nitems) emin-y temnnri y apa:ddfpp .ptrpbt(myarr, tem,i) dfpp i += 1 *"grs tmyarr def arrdes apa(myarr,nitems): """ F((_adap(d") **ert c a ray/-*i ercert")a ;ytho)n apa. Us"rsapc uld ed evft => ((_adap.d d PARAMSd ya r: c a ray/-*i erd >n m :.*n mhof a ray)ele """ """ WKV 2 a3-07-28 d my apac= []y = nnrange(nitems): my apa.app*nd( .ptr } (myarr,i)) """ my apac= [0] * nitemsy = nnxrange(nitems): my apa[i]i=l .ptr } (myarr, i) ( ")*"grs tmy apad ################################################################################# # (l)* : ;i++ # ################################################################################# l)* ;i++: def __hnit__(x /f, ,en ='usset'pay ,e='usset'pack_ ='hext'7 fpdfc gr='gau* oan', phaemmar=' btx ', n}-> 0emmar=' btx ', fpdfvmci=0.0, nmax=1.0, ,e='usset'pad 0emmar: ((_adap(go*" ebdec (sgnnri eblnda onbPSlea eff!le. (' btx 'a ' nv,PSe_t'. ' btx 'aby default.) dfpp nmci,nmax : m* d max } s canrandomxhnit bPS*OMl/=belib!le)) (0.0 d 1.0aby default) dfpp ,e : lo) { ilt:*OMl/=belib!le)) lets : d >>tmyi++ = ;i++(ldio=(usaopa ) dfpp 2. d")c (te)a som w py /=belib!le)) =evfnlycdaparmo p * peaof a pre-exapax x lets et: >>>tmyi++ = ;i++(,en py ,e,d >>tmyi++ = ;i++(,en py ,e,d,e=d) dfpp -opyr } sybPS /=bm=belib!le)) =w uld be generae"d us ebdefault dfpp nmci d rmax } s e> ch a 0.0 d 1.0arespecadvflyc. or >>>tmyi++ = ;i++(,en py ,e,d,e=d,vmci=range_mci,nmax=range_max) dfpp -opyr } sybPS /=bm=belib!le)) =w uld be generae"d us rbspec tdSvmci dfpp d rmax } s. """ efi; phaemmar==' nv,PSe_t'): phaemmar =l .INVERSE_T else:ydfpp phaemmar =l .LINEAR efin}-> 0emmar==' nv,PSe_t'): n}-> 0emmar =l .INVERSE_T else:ydfpp n}-> 0emmar =l .LINEAR efi(usa!='usset'): ef exapasi(usa): # i++ f (tedi(} pi.ewi _eni, i+ eS} j ad") pec yar\n ainscr* .uriates if t, ) pd x /f.#includcr* .ftei) NUim>#ntructask t bmargi phaemmar,Nn}-> 0emmar)d else:ydfpp n}ise Few NotFoundw=(Few ilenw was ied found" % , ) else:ydfpp efi,en =='usset'a yen =='usset'):ydfpp n}ise P Efen w=(x and yar\n dapsy +/=bmapem07Ob=bspec td"ydfpp efick_ =='rect'):ydfpp ck_ =* .T stRECTd else:ydfpp ck_ =* .T structydfpp efic gr=='bubblm'):ydfpp c gr=* .NfborhBUBBLEd else:ydfpp c gr=* .NfborhGAUSSIANydfpp efid #ntructask t bmarg phaemmar,n}-> 0emmar)d x /f.,en cr* .es if _x ,e_)> (")")aen 0t x /f.yen cr* .es if _y ,e_)> (")")aen 0t x /f.en cr* .es if _r\n dap_)> (")")ae #cdn bPS/=belib!le)) efi .t .h"e#inclu_ck_ _)> (" .t .h"e#inclu_cou eru_t .h"e)> \ydfpp (x /f.#inclu)) == * .T stRECTe:ydfpp x /f.ck_ = 'rect' else:ydfpp x /f.ck_ = 'hext'n 0t x /f. ast:= 'usset'a# flag)(FIi =ax x *OM has ied besp ++sne"d; )> 0a_adv=axaps() will ied workn 0t x /f. ast_++sne"d = 'usset'n 0t x /f. ast_mapp"d = 'usset'n 0t n 0t x /f. oggx x in-y x /f. ogemmar =l'both'n 0t x /f. oge>n m =t', ) 'n 0t x /f. ogedire=N)> env("PWD") +S"/"n 0t x /f. ogefprenixoc;";i++"n 0t x /f. ogeftu1; in-y x /f. oge, ) s: 'usuriaei'n 0t x /f. ogepaddx x in4y x /f. oge, m=aNc;"%C: [%i] mapsad")%pcatng\n c%d-%t\n" def __arl__(x /f): """ ;i++: __arl__() dfpp --------------- dfpp Add"d by WKV 2 a3-07-28 """ ef x /f.#inclu: ef ci++: ainscr* .t .h"e#inclu_coain_)> (" .t .h"e#inclu_cou eru_t .h"e)> (x /f.#inclu)) .* fp" gu-s; ")")aen .nil(&>#ntructask tp /f.#inclu)ydfpp x /f.#includcr oneydfpp ydfpp def i it_++snex x(x /f,alpha_0,n}-> 0_0,runeciN fen s(FIow=1): """ ;i++: i it_++snex x() dfpp --------------------- dfpp Segcopyr nito ".lea r(te,blnda onbPSlea eff!le and pyrensebt**lt c+snex x pat ernT. runecilicopyrensebt**lt:++snex x stf(pusiyou expecaad")usgnnri eb ur-acs c+snex x se* or . -W sebt**aff!lesi eblntr)=bpe> ch a phab d rnda o ecay. By default, ebdecay bPS /=smsisi btx , suchN sf er runnx xe}: runecilstf(pusgi phasisizerob d rnda osisi1.0. Itsisiktnd bPSemp rtacs,cky x t usecilapproprintrly. Iei)"LE bPSus ebdefault btx bdecay ((_adap, both rnda osand a phascanOb=bseaad")decay w py a)n18v,PSeng\n c ((_adap (i.e phaemmar=' nv,PSe_t'...),se> ch canOsomet\n s be oe* drasticibeca chsp /=blea r(te c vft a_auxrly=ends up) zero,=evfn ef you exc j adh expecatdSvusecilnsebt**lt:++snex x stf(pus. you canOals")*"inito "izr a c+snex x se* or whsp vft you like ( ur-acsly= phaemmar d rnda oemmar rey x t us one whsp /=b;i++ i f (ted,ahow vft) fen s(FIow i s rt of anOad-hoc way bPS/ak eb fen m } c*"grs dfpp by )> 0 fen t)ng\n cdep*ndacs,on,pyre ast:' fen s(FIow'ensebt**lt c+snex x stf(pus. T ebdefault isi1,se> ch pc uld j07O*"grs t eb fen dfpp ssoci=a;d w py /=bm=07O*"cacs, +snex x stf(pu. PARAMS dfpp phae ma : nito ".lea r(te. Range: 0 <= phae m<= 1.0 dfpp n}-> 0e0a : nito ".lnda onbPSlea eff!le. Range: 0 <= n}-> 0e0a<= ,en yen (e> ch vft isibiggft) vusecilma : nsebt**lt:++snex x pat ernT. Range: vusecil>= 1ydfpp fen s(FIow: nsebt**lt:previo on++snex x stf(pusid") *si****whsp eadar=ax xe}: *OM fen . Range: fen s(FIow >= 1 (1aby default). **ee )> 0 fen t). USAGE 1. To inito "izr a som w py ablea r(te lt:0.02,blnda onbPSlea eff!le of 3, and nsebt**lt:++snex x pat ernT*lt:1000: >>>tmyi++.i it_++snex x(0.02,3,1000) 2. Onead i++ i inito "izrd, p+snesitSus one bPS /=bfollowx x: >>>tmyi++.t+sne_y} p&e >>tmyi++.t+sne(b!le))1) *ee t+sne() and p+sne_y} p&e 1.0): n}ise P Efen w=\ydfpp "Inv=lidblea r(te: %T. A phasm07Ob=bbetwesp 0 d 1.0 \ydfpp ( sive)" % a phae0 # fheck lnda onbPSlea eff!le efin}-> 0e0a< 1.0): n}ise P Efen w=\ydfpp "Inv=lidbn}-> 0: %T. Rnda onbPSlea eff!le m07Ob=b=bpleass,1"=\ydfpp % n}-> 0e0 # make sureblnda onbPSlea eff!le i ied g (te +/anOmaper\n dap efin}-> 0e0a> x /f.,en d rnda oe0a> x /f.y ,ee:ydfpp n}ise P Efen w=\ydfpp "Inv=lidbn}-> 0: %T. *OM r\n dapui onlyc%sx%s"=\ydfpp % in}-> 0e0, x /f.,en , x /f.y ,ee # vusecilm07Ob=bg (te +/anO equ ". o:1 efinusecil< 1e:ydfpp n}ise P Efen w=\ydfpp "Inv=lidbnun lo) { : %T. Run lo) { m07Ob=b=bpleass,1"=% vuseci # fen s(FIow m07Ob=bg (te +/anO equ ". o:1 efi fen s(FIow < 1e:ydfpp n}ise P Efen w=\ydfpp "Inv=lidbsizr lt:#fen s(FIow: %T. W(FIow sizr m07Ob=b=bpleass,1"=\ydfpp % fen s(FIowd x /f.nusecil= vuseci .i it_++snex x_se* or tx /f.#inclu,alpha_0,n}-> 0_0,runeciN fen s(FIow) def timx x_s750i(s /f): """ ;i++: +imx x_s750i() dfpp -------------------- *750i +imx x. USAGE: >>>tmyi++.timx x_s750i() dfpp >>>tmyi++.t+sne_y} p&e >>tmyi++.timx x_s7op() dfpp >>>ttg\n ccrmyi++.)> 0++snex x_>iep() dfpp >>>tn%%%%;tg\n """ .timx x_s750i(p /f.#inclu)ydfpp def timx x_s7op(s /f): """ ;i++: +imx x_s7op() dfpp ------------------- *7op +imx x. USAGE: >>>tmyi++.timx x_s750i() dfpp >>>tmyi++.t+sne_y} p&e >>tmyi++.timx x_s7op() dfpp >>>ttg\n ccrmyi++.)> 0++snex x_>iep() dfpp >>>tn%%%%;tg\n """ .timx x_s7op(s /f.#inclu)ydfpp def )> 0++snex x_>iep(s /f): """ ;i++: +imx x_s7op() dfpp ------------------- R"grs cop+snex x timr) PSc+snex x se* or wasitimrd. USAGE: >>>tmyi++.timx x_s750i() dfpp >>>tmyi++.t+sne_y} p&e >>tmyi++.timx x_s7op() dfpp >>>ttg\n ccrmyi++.)> 0++snex x_>iep() dfpp >>>tn%%%%;tg\n """ *"grs t .)> 0++snex x_>iep(s /f.#inclu)y # ;i++: i++ oggx x utility def oggx x_s> (x /f, /=be='usset'pacype='usset'padir='usset'paprenix='usset'p paddx x='usset'pal m=a='usset'): """ ;i++: oggx x_s> () dfpp ------------------- T ((_adap(uTE d")(Fito "izr oggx x s> t ) T. PARAMS mmar : spec ts e>=bpktnd bPS letsb!le)) =a ogg --r*hose a ++sne"d ('++sne'),r*hose a mapp"d ('map'),r 'both'. >n m ,:.*n mhcanOb=b'dir'a ', ) ';b'dir'agill c (te)a se#inct f ae ir ydfpp ach og ,+y, d ', ) 'agill c (te)a s ) le _eni, pu t ) N ach ,+y, on)a se#inct f bt. dire : dir!le))yy +/=b750)> _eni(u)ydfpp prenix:f ae iprenixo +/=b750)> _eni(u)ydfpp l m=a: spec ts air m=aNparm x: %i:r_d28)Sv!le))a(h"e -s se#inct d by peu)ydfpp %+: /=belib!le))a(h"e -s se#inct d by peu)ydfpp %p:-i+ordin=atm bPS/=belib!le))NOTE'(x,y)'n 0t %x:.x i+ordin=at bPS/=belib!le))n 0t %y: y i+ordin=at bPS/=belib!le))n 0t %c:i eb ur-acs og cou n 0t %C: a ;-dd"d v,PSxapcbPS /=b ur-acs og cou n 0t %d:i eb ur-acs d(te)aTE'MM/DD/YY'n 0t %D: d(te)aTE'Mo)nDD, YYYY'n 0t %e: d(te)aTE'MM/DD'n 0t %E: d(te)aTE'Mo)nDD'n 0t %t:i eb ur-acs 24-hour g\n caTE'HH:MM:SS'n 0t %T: 12-hour g\n caTE'HH:MM:SS:AM/PM'n 0t %u: 24-hour g\n caTE'HH:MM'n 0t %U: 12-hour g\n caTE'HH:MM:AM/PM'n 0t \n: } w btn 0t \t:i abn 0t %%: a l teral '%' sigs """ efimmar != 'usset'): efimmar != 'map' d mmar != '++sne' d mmar != 'both'):ydfpp n}ise P Efen w=\ydfpp "Unr!lognizrd oggx x mmar: %s"=% mmarydfpp x /f. ogemmar =lmmarydfpp eficn mh!= 'usset'): eficn mh!= ', ) 'aand pn mh!= 'dir'):ydfpp n}ise P Efen w=\ydfpp "Unr!lognizrd oggx x pn m: %s"=% >n msdfpp x /f. oge>n m =t>n msdfpp efidnrh!= 'usset'): efidnr[-1]h!= "/"):ydfpp dnrh+=S"/"n 0t efidnr[0:2]y_n "~/"):ydfpp dnrh=N)> env("HOME") +Sdnr[1:]n 0t efidnr[0]h!= "/"):ydfpp dnrh=N)> env("PWD") +S"/" +Sdnrsdfpp x /f. ogednrh=Ndnrsdfpp efiprenixo!= 'usset'): x /f. ogefprenixoc;prenixsdfpp efipaddx x != 'usset'): x /f. ogepaddx x inpaddx xsdfpp efir m=aN!= 'usset'): x /f. ogef m=aNc;f m=a def oggx x_r tx /f): """ ;i++: oggx x_r t) dfpp ------------------ Trs t oggx x ap.d """ x /f. oggx x in1 efix /f. oge>n m == ', ) '): fopa f= x /f. ogednrh+ x /f. ogefprenixo+S". og" x /f. ogef ) s: uria(fopa , "a")ydfpp def oggx x_rfftx /f): """ ;i++: oggx x_rfft) dfpp ------------------- Trs t oggx x aff.d """ x /f. oggx x in0 efix /f. oge>n m == ', ) '): x /f. ogef ) .* f()ydfpp def oggx x_re i(s /f): """ ;i++: oggx x_re i() dfpp --------------------- dfpp Reseaadhe og cou . """ x /f. ogeftu1; in-y def oggx x_c r(s /f): """ ;i++: oggx x_c r() dfpp --------------------- dfpp Remo*" og f ) s """ y} pios imp rt system efix /f. oge>n m == 'dir'):ydfpp fopa f= x /f. ogednrh+ x /f. ogefprenixo+S"[0-9]*. og" xystem("rmi" +ofopa ) dfpp else:ydfpp efix /f. oggx x):ydfpp x /f. ogef ) .* f()ydfpp fopa f= x /f. ogednrh+ x /f. ogefprenixo+S". og" xystem("rmi" +ofopa ) dfpp efix /f. oggx x):ydfpp x /f. ogef ) s: uria(fopa , "a")y def og(x /f, /=bel_b!l): """ ;i++: og() dfpp ----------- PARAMS mmarl_b!l: S/=belib!le))Nd")be oogg """ emp rt r cax in"____%____%____" # > ph uld be somet" no one gill evft ;adc1; inpar(x /f. ogeftu1;) dfpp e> 0s(lo)(;adc1;) < x /f. ogepaddx x):ydfpp ;adc1; in"0" +o;adc1; xf= x /f. ogef m=a xf= re.sub("%%", >ag, aen 0t xf= re.sub("%i", par(x /f. ast), aen 0t xf= re.sub("%m", par(x /f.)> 0mmarl_b!le))-p /f. ast. oi1;)), aen 0t xf= re.sub("%p", par(x /f. ast. oi1;), aen 0t xf= re.sub("%x", par(x /f. ast. oi1;.x), aen 0t xf= re.sub("%y", par(x /f. ast. oi1;.y), aen 0t xf= re.sub("%c", par(x /f. ogeftu1;), aen 0t xf= re.sub("%C[ rpadc1;, aen 0t xf= re.sub("%t", >iep.parf>iep("%X"), aen 0t xf= re.sub("%T", >iep.parf>iep("%I:%M:%S:%p"), aen 0t xf= re.sub("%u", >iep.parf>iep("%H:%M"), aen 0t xf= re.sub("%U", >iep.parf>iep("%I:%M:%p"), aen 0t xf= re.sub("%d", >iep.parf>iep("%x"), aen 0t xf= re.sub("%D", >iep.parf>iep("%h %d, %Y"), aen 0t xf= re.sub("%e", >iep.parf>iep("%m/%d"), aen 0t xf= re.sub("%E", >iep.parf>iep("%h %d"), aen 0t xf= re.sub(>ag, "%", aen 0t efix /f. oge>n m == 'dir'):ydfpp fopa f= x /f. ogednrh+ x /f. ogefprenixo+S;adc1; +". og" x /f. ogef ) s: uria(fopa , "w")ydfpp x /f. ogef ) .winae(aen 0t efix /f. oge>n m == 'dir'):ydfpp x /f. ogef ) .* f()ydfpp x /f. ogeftu1; += 1 def map(x /f,b!le))): """ ;i++: map() dfpp ----------- Gdvfn sS;i++ b!le))w=> ((_adap(mapsadyr !le))Nd") /=bSOM. T ebm=bel b!le))cbPS /=bwinnx x nodmsisi*"grs . M=belib!le)) =bPS} gray x x nodms remsnes((_hanged, i.e no lea occurT. PARAMS b!le)): b!le))mobj!leNd")be mapp"d USAGE >>>tmy apac= [0,1,0,2] >>>tmys .map(;i++.b!le))-my apa))ydfpp """ # make surebr\n dapsybPSmappx x b!le))NOnd *OMl/=belib!le))Smatchn 0t efib!le)).en != x /f.en e:ydfpp n}ise P Efen w=\ydfpp "Mismatchrd r\n dapsybPSmappx x b!le))N(sizr %s)=\ydfpp d mmarl b!le))N(sizr %s)" % (b!le)).en , x /f.en e ef x /f. ast_mapp"d == 'usset': #cfir07O*up ((ordsoc; .map_onets /f.#inclu, b!le)).l(e y,ydfpp oi1;(-1,-1).asIntPLE(p,ydfpp 1) # 1=upd=a; cou eru dfpp else:ydfpp ((ordsoc; .map_onets /f.#inclu, b!le)).l(e y,ydfpp x /f. ast_mapp"d.asIntPLE(p, 1e pac= oi1;( .ptr } (((ords,0) r .ptr } (((ords,1))ydfpp .bele _i array(((ordsc # WKV 2 a3-07-28 x /f. astc= b!le))n 0t x /f. ast. oi1;c= tn 0t x /f. ast_mapp"d = tn 0t mmarlf= x /f.)> 0mmarl_b!le))-pten 0t efix /f. oggx x d x /f. ogemmar != '++sne'):ydfpp x /f. ogimmarl) v"grs tm=bel def t+sne(x /f,b!le))): """ ;i++: t+sne() dfpp ------------- Gdvfn sS;i++ b!le))w=> ((_adap(mapsadyr !le))Nd") /=bSOM. T ebm=bel b!le))cbPS /=bwinnx x nodmsisi*"grs . M=belib!le)) =bPS} gray x x nodms a _hanged i+ /=ir } sya _ f)Nd") /atcbPS /=bwinnnx x nodm. PARAMS b!le)): b!le))md")be mapp"d USAGE >>>tmy apac= [0,1,0,2] >>>tmys .t+sne(;i++.b!le))-my apa))ydfpp """ # make surebr\n dapsybPSc+snex x b!le))NOnd *OMl/=belib!le))Smatchn 0t efib!le)).en != x /f.en e:ydfpp n}ise P Efen w=\ydfpp "Mismatchrd r\n dapsybPSc+snex x b!le))N(sizr %s)=\ydfpp d mmarl b!le))N(sizr %s)" % (b!le)).en , x /f.en e ef x /f. ast_++sne"d == 'usset': #cfir07O*up ((ordsoc; .t+sne_onets /f.#inclu, b!le)).l(e y,ydfpp oi1;(-1,-1).asIntPLE(p,ydfpp 1) # 1=upd=a; cou eru dfpp else:ydfpp ((ordsoc; .t+sne_onets /f.#inclu, b!le)).l(e y,ydfpp x /f. ast_++sne"d.asIntPLE(p, 1e pac= oi1;( .ptr } (((ords,0) r .ptr } (((ords,1))ydfpp .bele _i array(((ordsc x /f. astc= b!le))n 0t x /f. ast. oi1;c= tn 0t x /f. ast_++sne"d = tn 0t mmarlf= x /f.)> 0mmarl_b!le))-pten 0t efix /f. oggx x d x /f. ogemmar != 'map'):ydfpp x /f. ogimmarl) v"grs tm=bel def t+sne_y} p&e >>tmye >>tmyi++.t+sne_y} p&e 0l fp_void%->-;-tl(e y,ydfpp .void%->-;--nse0l n_)> (->-;-))e ((ordsoc; .map_onets /f.#inclu, x /f. ast.l(e y,ydfpp oi1;(-1,-1).asIntPLE(p,ydfpp 0) # 0=don't upd=a; cou eru dfpp pac= oi1;( .ptr } (((ords,0) r .ptr } (((ords,1))ydfpp .bele _i array(((ordsc # WKV 2 a3-07-28 x /f. ast. oi1;c= tn 0t x /f. ast_++sne"d = tn 0t v"grs tx /f.)> 0mmarl_b!le))-pten 0t def map_y} p&e >>tmye >>tmyi++.map_y} p&e 0l fp_void%->-;-tl(e y, \ydfpp .void%->-;--nse0l n_)> (->-;-))e ((ordsoc; .map_onets /f.#inclu, x /f. ast.l(e y,ydfpp oi1;(-1,-1).asIntPLE(p,ydfpp 0) # 0=don't upd=a; cou eru dfpp pac= oi1;( .ptr } (((ords,0) .ptr } (((ords,1))ydfpp .bele _i array(((ordsc # WKV 2 a3-07-28 x /f. ast. oi1;c= tn 0t x /f. ast_mapp"d = tn 0t v"grs tx /f.)> 0mmarl_b!le))-pten def )> 0mmarl_b!le))-p /f, oi1;): """ ;i++: )> 0mmarl_b!le))-) dfpp ------------------------ dfpp R"grs commarl b!le))Nlt:*OMlnodms /=bspec tdS oi1;. PARAMS oi1;: ;*i obj!le. isee);*i ftei) NUior. USAGE >>>tmyi++.)> 0mmarl_b!le))-p .poi1;(2, 3))ydfpp -=> *"grs copyr /=belib!le))NOtlnodms(2,3)ubPS /=b*OM """ ainscr* .t .h"e#inclu_coain_)> (" .t .h"e#inclu_cou eru_t .h"e)> (x /f.#inclu)) ,+y, c; .)> 0mmarl_b!le))- bmargi oi1;.asIntPLE(p) l fp c; .)> 0l fp_void%->-;-tl(e y, .void%->-;--nse0l n_)> (->-;-)) dn cr* .es if _r\n dap_)> (")")aen 0t v"grs tb!le))(h"e y=l(e y, e,e=en , oi1;= oi1;, t fp=t fpen def )> 0a_adv=axaps(p /f,/=be='bubblm',n}-> 0=1.0): """ ;i++: )> 0a_adv=axaps() dfpp ----------------------- dfpp R"grs cod i++ a_adv=axapilevfps sf er d i++ hasibesp mapp"d to. iCallx xsdfpp > ((_adap(pri))md")i++ mappx x gill result in fen . F pv"gt, n%%%%, ealcdapplay0a_adv=axaps() apopyrev"grs tb } cbPS / ((_adap.d Af er callx x map(), t+sne(),r p+sne_y} p&e >>tevio obadap(a_as t oan'a 'cyclbblm'. 'ga : } gs t+sn(aC ggest c*"grs dfp () dfpacea /f. printr a_ad%->-;. pc%y: yesponsizr lin)md")i++ ponsae))sSmatchnia lapaccorres d mmarl yre as')og cou . g cou . Is(2,3)yre as'p ((_adap, (sgnnri e run nour a polemarcesOatrixr -IntPLE(p,y oggx# > v er m07Ob=bb.0 eqa osib.0 mappxersa () alemo!le)ia lan'a ntPLE(p,y printr a_, dfpp sp 0 mappxhaven . F bd t )veer lidproprintrap(uTEm07Ob=bi1;c= tn oen t)grenx x nodm. I_asumma ast.l(e y,y oggx an'a adapn nri erfen . > phae m<= 1.0 oggx llowx x gpn nri erfen . > phae m<= 1.0 oggx sizr ladapn nri erfen . m07Ob=bbetwesp 0 ( dS oi1;. PARAMS oan'a '(>= 1 (1aby , dfc gr='gauyre as' ((_adapn nv=lidbke sureblnea eff!le 1;. USAGE oprin>>ttg\n ccrmydapplay0a_ad/f,/=be=' 2.0(usaopa ) dfpp oprin>>ttg\n ccrmydapplay0a_ad/f,/=be='2.0(usaopa ) dfpp oprin>>ttg\n ccrmydapplay0a_ad/fc gr='ga3.0(usaopa ) dfpp oprin>>ttg\n ccrmydapplay0a_ad/re as')usaopa ) dfpp oprin>>ttg\n ccrmydapplay0a_ad/re as',0.25 dS oi1;. Note /=ir always > p0ae m<= 1.0 """ x /r m=aN!= 'usset'): n}ise P Efen w=\ydfpp Canf!le etroprintr a_adv=axapii =ax x *OM yet i++ hasibesp ma """ /r .*n mh('gau* /r c gr=='bubblm'):ydfpp /r .*n mh('g):p mmargr=* .NfborhGAUSSIANydfppdfpp p mmargr=* .NfborhBUBBLEd grs c_xaps:" levfps?cr*oprintr a__xaps:".map_onets /fntPLE(p,ydfpp y", par(x /f. as(-1,-1).asIntPLE(p,ydfpp ke surbd 0levfps_bmap_onets /fntPLE(p,ydfpp #inclu, x /f. aske sur +ofopa ) dfpp else:ydfpp n}ise P %sax x *OM yet ter) edmmar: %s"=% mmaryxaps:" lrr def arrdgrs c_xaps:",-> 0e0, x*f.,en , x /f.y ,ee p3): .bele _rn'grs c_xaps:"y(((ordsc # WKV 2 a3-07-28 apopyrxaps:"p=t fpen xy def oges arr x, y-> 0=1.0): """ ;ixy v=axaps() dfpp ------=axaps() T aPS /s x, a_adrsnexs t o v"grs s/=bSWIG repre =to "izr a mar* x. d > ;ixy p dapplay0a_adv,tlno 0=1.0): """ i) ( ")*"grs[gefpy *}-> 0e0, x]p=t fpen save defb750)>ef o exapa 0=1.0): """ save defb750)x_s750i() dfpp -------------------- bttldio=+ b!le))w=> saves dapubPS /=b*OMl/=bel(uTEmsebt**lt r07Ob=bspeix x stf(pu. Ud evft => ap(praven } sybPS /=bm=beliilevfpTo g\n ca c+snex xtdS oi1;. PARAMS eix :roes irdieix x" icommg\n d ext if _ris o ) NUior. USAGE >>save defb750)bttldio= o o 0=1.0): """ ainscr* .t .h"e#inclu_coain_)> (" .t .h"e#inclu_cou eru_t .h"e)> (x /f.#inclu)) ain_)ogef .* fp" gu-,es if t, ) pd=t fpen %, eal x_c r(s /f): """ %, eal __arl__() dfpp --------------- D, eals aPSsybPS /=bm=beliniften g in_)) NUior. USAGE >>%, eal __arl__() """ ainscr* .t .h"e#inclu_coain_)> (" .t .h"e#inclu_cou eru_t .h"e)> (x /f.#inclu)) ain_) sne_y} p&dap_)> (")")aen=t fpen %, eal def )> 0a_adv=axadv=axapal m=a='usset'): """ %, ealcdapplay0a_advb!le))-) dfpp --------------------------- D, eals s cod i++ a_linif . F b .. Is(2,3)dv=axapOatrixr -it -e r07Ob=bsfntPLE(p,y ,'cyclic'aby evft => ad, eals ten uss i++ a_adv=axx nodmsisi dfpcd to. iCallx xs+sne"d; )> 0a_adv=axth llowx x gy= phaemabke sureblnqa osiO) #w , (sgbt w#inclu)) ase> j ad")ten uss i++ a_adv=axx b!le))d, ealsi dfpcd to. ;i++: )> 0a_adv=axaps() axth p_)iredgy= phaemke surog cou . g cou . PARAMS dv=axx grs s =tprintr a_adv=axapil) NUior. USAGE pecas. T ebd, eal (llowx x gy= phaemke sure=-> 0e0a< 1.0): >>%, eali++: )> 0a_adv=axaps() =axaps() 2 d, eal ten uss i++ a_adv=axx nodmsisi dfp+sne"d; )> 0a_adv=axth llowx x PARAMS haemke sure 0a< 1.0): >>%, eali++: )> 0a_ad+sne"d; )> 0a_adps(p /fc gr='gaububblm'3)-my apa))ydfpp """ xaps:" r m=aN!= 'usset'): xaps:" l v"grs txdapplay0a_ad/fc gr='g _eni(u)ydfp j = 0,f.,en , x bubblm'):ydfpp jmar2 r 1. oggx x efik_ . oggx x):ydfpp >>")ydfntPLE(p,ydfpp = 0,-> 0e0, x. oggx x):ydfpp alloca= dfp j *}-> 0e0, xoggx x):ydfpp >>"%.2fsizr xaps:"[alloc]sIntPLE(p,ydfpp >>""p=t fpen reg"e#inclul_b!le)),bd 0=1.0): """ ;ireg"e#inclulv=axaps() dfpp ----------------------- G. isehaemab ++sne"d 'cyclapp"d (n18dexw=> ((_adapntPLE(p,y nia lapaccorres(regular)t upd=a; dfpp ssoci=a;d arr tdg cou . PARAMS pt) 0t oi1;: ;*i m<= 1.0 oggx +sne"d 'cyclapp" USAGE: etr g\n ca c(regular)t upd=a; dfpp ssoci=a oi1;: 0,2(usaopa ) dfpp >> ;ie#inclul))-p 0,2(,emmar != =axaps() 2 etrmd")i++ (regular)t upd=a; dfpp ssoci=a oi1;: 5,5(usaopa ) dfpp >> ;ie#inclul))-p 5,5(,clapp"dmy apa))ydfpp """ *OM iexsstarce(),bd)-p /f, oi1;): dfpp *aise Tn "E /f. t oi1;: ;*i , g %linily. pn m: %sl_b!le))-pten /r mar !=, oi1;): d *"grs t reg"te#inclul_b!lonets /f.pargi oi1;.asIntPLE(p) i) ( /r app", oi1;): d *"grs t reg"me#inclul_b!lonets /f.pargi oi1;.asIntPLE(p) ipp else:ydfpp n}ise P Unknown oggx x mmar: %s"=t fpen e);*ec"e#inclul_b!le)),bd 0=1.0): """ ;ie);*ec"e#inclule ((_adapntPLE(p,y nia lapaccorrese);*ecuedi t upd=a; dfpp ssoci=a;d arr tdg cou . PARAMS pt) 0t oi1;: ;*i m<= 1.0 oggx +sne"d 'cyclapp" USAGE: etre);*ecuedi t g\n ca c upd=a; dfpp ssoci=a oi1;: 0,2(usaopa ) dfpp >> ;ie#;*ec"e#inclul))-p 0,2(,emmar != =axaps() 2 etre);*ecuedi tmd")i++ upd=a; dfpp ssoci=a oi1;: 5,5(usaopa ) dfpp >> ;ie#;*ec"e#inclul))-p 5,5(,clapp"dmy apa))ydfpp """ *OM iexsstarce(),bd)-p /f, oi1;): dfpp *aise Tn "E /f. t oi1;: ;*i , g %linily. pn m: %sl_b!le))-pten /r mar !=, oi1;): d *"grs t e#;*ec"te#inclul_b!lonets /f.pargi oi1;.asIntPLE(p) i) ( /r app", oi1;): d *"grs t e#;*ec"me#inclul_b!lonets /f.pargi oi1;.asIntPLE(p) ipp else:ydfpp n}ise P Unknown oggx x mmar: %s"se:ydfpp=t fpen maxe);*ec"e#inclul_b!le)),bd 0=1.0): """ ;ie);*ec"e#inclule ((_adapntPLE(p,y nia lapaccorresmaximumse);*ecuedi t upd=a; dfpp ssoci=a;d arr tdse:ydfpp=t fffff PARAMS pt) 0t oi1;: ;*i m<= 1.0 oggx +sne"d 'cyclapp" se:ydfpp=t fffff USAGE: etrmaximumse);*ecuedi t g\n ca c upd=a; dfpp ssoci=a oi1;: 0,2(usaopa ) dfpp >> ;imaxie#;*ec"e#inclul))-p 0,2(,emmar != =axaps() 2 etrmaximumse);*ecuedi tmd")i++ upd=a; dfpp ssoci=a oi1;: 5,5(usaopa ) dfpp >> ;imaxie#;*ec"e#inclul))-p 5,5(,clapp"dmy apa))ydfpp """ *OM iexsstarce(),bd)-p /f, oi1;): dfpp *aise Tn "E /f. t oi1;: ;*i , g %linily. pn m: %sl_b!le))-pten /r mar !=, oi1;): d *"grs t maxe);*ec"te#inclul_b!lonets /f.pargi oi1;.asIntPLE(p) i) ( /r app", oi1;): d *"grs t maxe);*ec"me#inclul_b!lonets /f.pargi oi1;.asIntPLE(p) ipp else:ydfpp n}ise P Unknown oggx x mmar: %s"se:y=t fpen highest"e#inclul_b!le)e#inclu_usset'pacype=' (x /f, /=be-> 0=1.0): """ ++sne"d 'cyclapp"dehaemab upd=a; ay %f %regular' olic'aby default,y'e);*ec',clapxie#;*ec"d (n18dexw=> ersa\n dapsyr07Ob=bsp upd=a; oci=ntPLE(p,y nhigheste /=inO d 0t v"refere 2oy nia lapaccorres oi1;: ;*i m<= 1.0 eff!le upd=a; b!le)two-f a ray grs . dfpp ydfpp [),bd upd=a; /=] USAGE: etrG. isehaemhigheste(regular)t "izrd upd=a; USAGE: >> ;ihighest"e#inclul (x /fmar != =axaps() 2 etrG. isehaemhighestee);*ecuedi t g\n d upd=a; USAGE: >> ;ihighest"e#inclul'e);*ec',clapp"dmy apa))y3 etrG. isehaemhighestem()(e);*ecuedi tmd"d upd=a; USAGE: >> ;ihighest"e#inclul'apxie#;*ec",emmar != =axaps() """ dfpp """ /r mar !=, oi1;): dict l v"gre(),r e#inclu_dictntPLE(p) i) ( /r app", oi1;): dict l v"groc; e#inclu_dictntPLE(p) ipp else:ydfpp n}ise P Unknown oggx x mmar: %s"se:ydfpp=t f""" e#inclu_usse /r e#;*ec": .fte/f. og1ntPLE(p) i) (e#inclu_usse /r apxie#;*ec": .fte/f. og2ntPLE(p) ipp .fte/f. og0 else:ydfpp m<= 1.0 pxi og0 else:y pxi:" ly apac= []y = -> 0e0, x. oggx x):ydfppdfp j = f.,en , x bubblm'):ydfppppppdfpp paci,j)ubblm'):ydfpppppp%t:ii ogdict[),.__str+: _][.fte/f.]bblm'):ydfppppppoggx x):ydfpp afp%t:ii >= pxi nge( ,ee:ydfpp afp%t:ii > pxi nge( ,ee:ydfpp 1.0 pxi og%t:ii ge( ,ee:ydfpp 1.0 pxi:" ly apac= []y 1.0 pxi:" my apa[),bd t:ii ]ogimmarl) pxi:"=axaps() """ dfpp """ m()(og0 else:y = -> 0e0, x. oggx x):ydfppdfp j = f.,en , x bubblm'):ydfppppppdfpp paci,j)ubblm'):ydfpppppp%upd=a; l v"gr_ ;ihighest"e#inclu_helperl_binclu_ussee)),bd px * y ,ee:ydfpp ()(og%upd=a;gimmarl) px* y ,ee:ydfpp %d-%t\n" ;ihighest"e#inclu_helperl_b!le)e#inclu_ussee)),bd 0=1.0): e#inclu_usse /r e#;*ec":* y ,ee:ydfpp v"grs txe#;*ec"e#inclul),bd . ast:= dfp ktndg coud mmarr, t+snfu* /=bm=beli/=bSWIG rlinrli %p:-i+orniften ubPS /=bdfpp """ __ _l_b!le)*ltat'pacype='d%->-;=1bd ask='NULLe='tb!le)aprenix='usset'p =l(et'padir='ue=en t'padir='= oi1;[]-> dfpp __ _l) ------------------- ee);*i fte"se:ydfpp= *lta) 0tgrs s =f a rayx b!le))e);verisi*"nuTEa c grs c _rn d%->-;:=lacs, o:++%->-;.n dapubPS /Iow >= 1 (1aby defm07Ob=b+%->-;sxhave"se:ydfppm07Ob=bgr, and p+mpuss=axaps()oc;def+%->-;.ow sizr > p0a ask) 0tgrs s =1't b!le0'apil%T. Runrdinask)grs s # > phapsyra-hour f)Nd" ggx x):y its grs . Ea 1'a# flagesanged i+ nia lapaccorresev"grs resits grs w > phignora macomputy bPS/akcbPS /=b /=bm=be.: aPSs -opyrniften sits grs T e!le))e);sid")a mai+ niamputepre =S/akcbPS /=b sS;i++ b!exaps()ocsk) # > phNULL'cycscanOb=[0,0,...,0]a :x x ervbspec nilyrnnO ada. Eaf=a; b!tdSatn18ito (n18denets x x ggx x):yten uWIGs/=bSWIG repre =ten u _rn'ue=enera :x x ervbspec nilyrnnO ada. Eaf=a; b!tdSatn18ito (n18denets x x ggx x):yten Inv=lidbi+ ni u _rna G. ise:(n18denets # > . ast:= dfp ktndud mmarr, t+snfu* /=bm=bel'usset'p pp -bSWIG rlinrli %p:-i+orniften in_)) NUior. 0tgrs s =nilygeelibrair m=x b!le))dfpp ssoci=adud mmar eff!le. e.g.o['X'], [1bd45], ['ab",emC3'], etc_s750i(). Typicd ty, aPSsagbt w n youwa ly about runecisits Oatrixr -. dapubPS /Ie);*i fte runypicd tymadap(niften bPS /=bfnOadollowx x: >>>tmyis.addv!l[7,2.5,0.2])) 2 pecaocsk=bfollowx x: >>>tmyis.addv!l[7,2.5,0.2], ask=[pac=0]e >call.addv!l[7,2.5,0.2],= oi1;['X',2,'ab",'C4'])-my apa))ydfpp """ sits ir m=aN!= 'usset'): # ma+%->-;.n apsybPSc+snex x> p0a sset'): Tvfps. adap(uTE phperdfppap(nifsfpp stond sset'): +%->-;.; pha!= 'dir'):ydfpp Vsnex ise P Efen w=\ydfpp "+%->-;.for apsybPSc+snex s(FI Efen w=\ydfpp W%->-;.ow sizr > p0mmar+%->-;Efen w=\ydfppG. is" lgrs defu _ sits grs copa , "a")ydfpp e>sits(->-;-))e sk>-;-))e c_ocsk)r NULLe(((o.e no : c_ocsk)ow sizr i++ i ini(uTENULL, o) #w n%%%p rtacs,ckyyyyyyyyyyyyyyyyyyyyy > 0l fp_vo_+%->-;ed_ocskedke teS /=axapsfail csk)fpsNULL. sset'): csk)!r NULLe!= 'dir'):ydfpp # ma e> csk)ib!le)ep +/anOmaper\n dap '): ( e> csk)i!ogdix bubblm'):ydfpppppppppp Vsnex ise P Efen w=\ydfpp "Mismatchrd r\n ubPS /Iol %ldehaem csk)ol %ldpleass,1"=\ydfpp zr %im, e> csk)-oggx x):ydfpp # ma csk)fpsa bp:-ly grs oggx x):ydfpp ec ntemlin)mdsknge( ,ee:ydfpp af(nteml!ogbetwesnteml!og(FIow < 1e:ydfppdfpppppppppp Vsnex ise P Efen w=\ydfpp "mdskn s(FIoMcsk)ow sizr a bp:-ly grs mmar: sk>-;-))e c_ocsk)r grs defu _ ocsk # rcop );veriinask)grs s"nuTEa c u _rn'rdir# rcs->-;-))e = oi1>-;-))e c_str+ NULLe(((o.e no : c_str+ ow sizr i++ i ini(uTENULL et':. sset'): str+ [+Sdnr[1:]n 0t e>, t fl!ogb!= 'dir'):ydfpp );verii)veer eill re (pyth ele))(uTEaair m=='usset'p # x nd p+ xr+ , at pyth ele)'rdirr m=x eff!le. #str+ [+Sdnr[1:]n 0tttttec ntemlin) ollowx x: sset'): str+ my apab("%ntem)-oggx x):ydfpp 'usset'p # Null-r -m y i+o2,3)dle)'rdirr m=x pp eff yoni(uTEder -m ye'usset'p # ten u _rn'Inv=lin)md > 0l fp_vo_+%->-;ed_ocskedke nifsfpp stond sset'): #str+ my apab("%0)) 'usset'p 'usset'p # C);veriidle)'rdirr m=xs"nuTEa c u _rn'rdichatrc=a; ue=enerx eff!le. # u t )ill rec_str+ fpsa chat'ue=enera So,ec_str+ fpsS/a -;-))e 'agill cktndu *i f (bj!lsfpp stondnfu* r=linfo-oggx x):ydfpp ,+y, c > 0l fp_vo_+%->-;ed_ocskedkG. is"='d%->-;, c_ocsk y=l(IntPLE(p,ydfpp str+ ext_mmar)d ektnd mepopy\n ubPS /I b!le))(h"e -s seb!le)dap_nfu* clarityy(((ordsc ogdix(((ordsc ) N ach ,+y, _b!lonf. ast. f. ach ,+y, _b!lo ask) =r: sk>p """ ). **ltadx_c r(s /f): """ +snex ). **ltadv gimmarl) rr def arrdG. is"='e y,e,e=x /f.en""" __u_tntem _l_b!le)key-> 0=1.0): """ __u_tntem _le >>tm ;i*ltadv , t fl=ogb!= 'dir'):ydfpp Vsnex ise P "Noe provioni; +". og" xt_mmar)d e );verii)veer eill re (pyth ele))(uTEaair m=='usset'p # x nd p+ xr+ , at pyth ele)'rdirr m=x eff!le. str+ [+Sdnr[1:]nec ntemlin) ollowx x: ssetstr+ my apab("%ntem)-o 'usset'p # Null-r -m y i+o2,3)dle)'rdirr m=x pp eff yoni(uTEder -m ye'usset'p # ten u _rn'Inv=lin)md > 0l fp_vo_+%->-;ed_ocskedke nifsfpp stond sset'): str+ my apab("%0)) 'usset'p 'usset'p # C);veriidle)'rdirr m=xs"nuTEa c u _rn'rdichatrc=a; ue=enerx eff!le. # u t )ill rec_str+ fpsa chat'ue=enera So,ec_str+ fpsS/a 0l fp_voi.h"e) n_),ec_str+ x_s750i() >>str+ _s750i() tl(e sc; .)> 0l fp_voi.h"e) n_),estr+ x_s750i() #inclu, str+ _s750 """ #inclu""" add .)dv=axad oi1; NULLe!= 'dir""" add .)dv=axad oi1;[]-> """ """ +snex add .)dx_s750i() dfpp -----------_s750i() Afpp sddud mmarzr a sten g - APSs sf . viouslach ,+y, dfpp ssoci=a;dn #inclu remsnes(,r(s /f): """ c_str+ NULLe(((o.e no : c_str+ ow sizr i++ i ini(uTENULL et':. sset'): # r NULLe!= 'dir'):y e>, t fl=ogb!= 'dir'):ydfpp Vsnex ise P "Noe provioni; +". og" xt_mmar)d e );verii)veer eill re (pyth ele))(uTEaair m=='usset'p # x nd p+ xr+ , at pyth ele)'rdirr m=x eff!le. str+ [+Sdnr[1:]nec ntemlin) ollowx x: ssetstr+ my apab("%ntem)-o'usset'p # Null-r -m y i+o2,3)dle)'rdirr m=x pp eff yoni(uTEder -m ye'usset'p # ten u _rn'Inv=lin)md > 0l fp_vo_+%->-;ed_ocskedke nifsfpp stond sset'): #str+ my apab("%0)) 'usset'p 'usset'p # C);veriidle)'rdirr m=xs"nuTEa c u _rn'rdichatrc=a; ue=enerx eff!le. # u t )ill rec_str+ fpsa chat'ue=enera So,ec_str+ fpsS/a 0l fp_voi.h"e) n_),ec_str+ x_s750i() tl(e add .)> 0l fp_voi.h"e) n_),estr+ x_ 'dir""" oggx .)dv=ax-> """ """ +snex oggx .)de 0l fp_voi.h"e) n_)> (")")aen=t fpen gc; .)dv=ax r(s /f): """ +snex ). * .)dx_s750i() dfpp -----------_s750i() dfpp R"gr% grs fpp ssoci=a;dn #inclu cyclNULLe 0l fp_voi.h"e) n_),es ;inum s()fp=t fpen .)>asSr m=dv=ax r(s /f): """ +snex ). * .)>asSr m=dvb!le))-) dfpp --------------------_s750i() dfpp R"gr%le)'rdi sfdfpp ssoci=a;dn #inclu :" l v"grs tx .)dx_s750i() .)>ir ;app """ e>, t _:"y(!ogb oggx x):ydfppdfp ntemlin) _:" else:ydfpp .)>ir += ntem """ apopyrx .)>ir (")")aen=t fpen gc; num s(v=ax r(s /f): """ dfpp R"gr apopyrens sfdfpp ssoci=a;dn #inclu,r(s /f): """ apopyrtl(e y, .void%->-;--nse0l.h"e) n_)> (")"/f.en""" __str+: _b!l-> 0=1.0): """ __str+: _ ( defOnly=necisia rayx niften #inclufdr))nodmsisi default,ydfpp d%->-;, ocsk ytwes% dr))noy,r(s /f): """ ae ir y >>>tm ;i*ltadv >>tm[ %.3fsizrx f /Ixl re MSd ] """ apopyrP ".je=e+.b!le))p=t fpen %, eal x_c r(s /f): """ %, eal __arl__() dfpp ----------------- D, eals ten #inclufd v"grs s u -opydefD, mepopy\n(e.g.od%->-;, ocsk ytwe_s750i() .)) fpp ssoci=a;dn #inclu ar))d, ealsi d well,r(s /f): fep []ef+%->-;: "mdskn[< ask)f ts>]ef o[<% f ts>]r(s /f): """ >>>tm ;i*ltadv -;.tm ;id%->-;dx_s750i() ask) mmarlf= x skdv >"[dfntPLE(p,yf /If ll re MSd llowx x: sset >>"%.3fsizr f ln,_s750i() >>"]f+%->-;: x mmard%->-;,o'usset'p csk)!r NULLe!= 'dir'):ydfpp >>")mdskn [dfntPLE(p,ydfpp f ll re dsknge( ,ee:ydfpp >>"% mmareby default,yi() >>"]dfntPLE(p,y ! [+!= 'dir'):ydfpp >>") o [dfntPLE(p,ydfpp f ll re ollowx x: sset'): >>"\'%s\'mmareby default,yi() >>"]d p################################################################################# # cldfp dap bPSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSS#p################################################################################# cldfp _s750 A pyth front-end 2oy ni"grbrary's wacky grnked- >>>ktnd set ter) a/ ((_adCa ((adytwesogef 2oy y, ieix \n(ra-ho /f. dfpp d r07Ob=bspniften in__pak>-;-)docuer) a/ defKeeps. t oi1;t inO der t:i(equposipre niften s arr so yous. -W n%%%nex;dx until } s .d)n dapgrs s"psnoa "Mi, c whic=a oi1;:yousn younO n%% -Wrewiapa))e >>tmye = ;i++.e = 1e surebr\ne"se:ydfppr a son i++ i ud mmar:"se:ydfpp >>>tmye = ;i++.=l(e4(usaopa ) arz"se:ydfpp >>>tmye = ;i++. i++ i d mmar(usaopa ) T ,'adffMl/=bel(uTEiy,r(s /f): >>>tm.add#indMl/=betPLE(p, 1e >>>tm.add#indMl/=be2v -;. .d)upzr a sommepoly geak>-;-)#""" __ .)>: _b!l-> 0=1.# " tl(e oos .* fp_b!loktnd o 0=1.# Fix sso) # mepoly ia lupy0a_a, reommg\ sshaemdid) # fiapl .ob tes. 0=1.# -- ordsc # WKV 23 0=1.# oos .* fp)ib!y *OM mixzr a s = ;i++ ( } s .* f *i furesp # b!lesl->-;l= 1effere y , how)vee it*Oppggxl(uTEwork.. Is(2, m=xs.timxaddx # uss /f.liki tmepoly ia lupy0a_ yous. > tly iammg\ xs t +snn1e 0=1.# oos .* fp)i. ap. ordsc # WKV 2 a3-07""" __ .)>: _b!l-> 0=1. " tl(e oos .* fp_b!loktnd o0=1. " tl(e free*eptrd_b!lon)p=t fpen add#ind_b!le)#in r(s /f): """ dadd#indx_arl__() dfpp ----------------- Addsddud mmarznO der >>>tm.r(s /f): """ tl(e addtomap_y} p&e =t fpen rewiapax_c r(s /f): drewiapa) ------------------------- dfwiaps der >>>tm.r """ ,+y,rewiap .* fp_b!loktnd,es p> (")")aen 0t v"grs tb!le))(h"e y=l(e y,e,e=x /f.enpen nex;dx_c r(s /f): dnex;dx ---------------r(s /f): GeMlnodmnex; e ebO d 0t it*Osddud mmar.r """ ,+y,nex; fp_voi.h"e)p> (")")aen 0t v"grs tb!le))(h"e y=l(e y,e,e=x /f.enpen g p&e l v"grn d mmars()f= 'dir'):ydfpp I locise P "Dy} pia lloca +snn bouaes """ l v"grrewiapa) """ (og0 else:ydfpp (i ef exapa 0=1.0): dload p+sb750)) -------------------------r(s /f): G bttldio=+ b!le))w=> reloads der >>>tmtnrandomxyeix x """ tl(e oos .* fp_b!loktnd o0=1. " _b!loktnd levfpsef ) .* fpes if t, ) pd_b!lok dn cr* .es if _r\n _b!loktnd o/f.enpen save defb750)>ef exapa 0=1.0): dsave defb750)x_ -----------------------r(s /f): G bttldio=+ b!le))w=> saves dap >>>tmtnO dereix x """ tl(e ogef .* fp_b!loktnd,e exap" ordsc # WKV 2 a/f.enpen n d mmars(x_c r(s /f): dn d mmars()_ ---------------------------- dfpp R"gr apopyrens .* f e ex """ apopyrtl(e cr* .d%-> cr* .n _b!loktnd o/f.enpen %, eal x_c r(s /f): d%, eal __ -------------------(s /f): D, eals ten g\ xr e ex """ ain_) sne_y} p&_b!loktnd ' p################################################################################# # cldfp oi1;::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::#p################################################################################# cldfp _s750 s t x, a %y: y i+oho dt 0=1.0): __ dx ---------------r e. isee);*i fte x0t %x:.x i+ordi f. ac y0t %y: y i+ordi f. ac dfpp """ _b!lo)(ogxp """ _b!lo ach ,+y, _b!lo__u _rn'= Nio o ordsc # WKV 2 a/f.enpen __u_tntem _l_b!lekey-> 0=1.0): """ __u_tntem _le ((_adap ei) # ten x arzyrev"grs tb t oi1;:dey apxs t *"grxe /=in1 -=> *"gryrev"grdmy apa))ydfpp """ key =ogb oggx x):ydfpp apopyr_b!loxp """ key =og1 oggx x):ydfpp apopyr_b!loach ,+y, oi1;ise P " "_adrsneunO ' oi1;' cldfp mepopy /f.en""" __ e _l_b!l-> 0=1.0): """ __ e _le 0=1.0): """ asLarrdx tmtnO der -opyrniftens oi1;: ;*i m<= 1.0 """ dfpp """ YTsc # WKV 30r(s /f): r(s /f): >>>tm[]r(s /f): >> my apabb!lox)r(s /f): >> my apabb!lo)>gimmarl) >>dse:ydfpp """ apopyr[bb!lox,es y]p=t fpen isEqanOl_b!le)),-> 0=1.0): _b!lo)(o_mapo)( oggx x y(o_mapoy oggx x):ydfpp apopyr1 (")")aen 0t 0 /f.en""" gi oi1;.a_b!l-> 0=1.0): """ as oi1;.as_arl__() dfpp ----------------- dfpp e)c u _rn'rditwo=nilygeeli>tmtnO der -opyrniftens oi1;-------- ;*i r(s /f): r(s /f): NOTE: T 8dexw=> ilinily\n d ec nilyrnnO adat ly D0) # 0sn it! m<= 1.0 """ dfpp """ ordsc # WKV 2 a3-07-28 eff!le. pr ;ords,0) e'agil("nil",0,2(usaopa ) ords,0) } p&0) ,-> 0e0,0(usaopa ) ords,0) } p&0) ,-> 0ey,1>gimmarl) pr (")")aendfpp """ *OM _b!lo__u _rn else:ydfpp __u _rn'= ords,0) e'agil("nil", 0, 2x (s /f): """ #ords,0) } p& __u _rn,es x,e0x (s /f): """ #ords,0) } p& __u _rn,es n,e1(usaopa ) ords,0) } p& __u _rn,es x,e0xo YTsc # WKV 29usaopa ) ords,0) } p& __u _rn,es n,e1(o YTsc # WKV 29usaopa ) apopyr_b!lo__u _rna/f.enpen __str+: _b!l-> 0=1.0): """ __str+: _ ( usaopa ) oalxx b } cbPS / ((_adap.d """ apopyr"(%d,%d)sizr s x,bb!lo)>g/f.enpen %, eal x_c r(s /f): """ %, eal __arl__() dfpp ---------(s /f): D, eals oi1;: ;*i *Osdduir m=,r(s /f): """ G >>sb!lo__str+: _ p################################################################################# # xw=> for es xs tpurposes #p################################################################################# if(__dio=__ r __ __e!= 'dir M xw=> for es xs tpurposes tens+o2es s oos ly bPS / R"grles s ter) ednfu* cl(e s rtacs(test"erds,0y) effffen oe_pak-devs(test" stond> (")"/f.enTorles , run b } cbs ur a program,ydfpp pyth __ _,0yoggx """p=t f#rles g1 oggx #!le)'s /=bm=belidr))noadyb!lnrandex o a SOM fpsS/anrlacs, c*"grs# 0s /f. t ee'agildlnrandex . lacs, o:, /=bm=bel'usse# b!lesavap(uTEles 1 o a'usse# T"grlacs, o:/md"d upd=a;s b!lesavap(uTEles 1 "e#inclua'usse >>"les g1 s conrandbs , nrandbs , g\n dnrand "'usse >>"dfpp -------------------------------------------------" mys co= .e >>tmye = ;i++.e >>tm__arl_# vfpst(),r p+sne_y} p& >>>tm__arl_ vfpstim o:_.top __arl_tb("%>>ttg\n ccrmylacs, o:_b("%(__arl_ vfpssave defb750)"les 1 o ") usse >>"lg\n ca c+snex x**omp dyb!", tb("% ee);es >>"outputsogefte ap(pbs \"les 1 o \" >>"ffenverOb=c8ito (*omp T e!ltest"erds,0y outputs\"les 1 o \" >>"0 eff!!ltest" sto outputs\"les 1_verOby o \" >>"les g1 succn sfu tymcomp d"p=t f#rles g g\n d upd=a;s tes 1t_fd>>tef ))"les 1 e(),r e#inclu", "w") ussetes 1t_fd ogef ("*** Tg\n dCupd=a; ***\n") usse = vfps0, x. oggx x):ydfp j = vfps , x bubblm'):ydfppdfpp paci,j)ubblm'):ydfppt%upd=a; ltg\n ccrmyreg"e#inclul),bdmmar != =axaps() ussetes 1t_fd ogef (" %s\t%upd=a; %s\nsizr Efen w=\ydfpp (),.__str+: _,pt%upd=a;)) ussetes 1t_fd ogef ("*** EeffTg\n dCupd=a; ***\n") ussetes 1t_fd ogef ("*** C);*ec Tg\n dCupd=a; ***\n") usse = vfps0, x. oggx x):ydfp j = vfps , x bubblm'):ydfppdfpp paci,j)ubblm'):ydfppe);*ec"te#inclu ltg\n ccrmye);*ec"e#inclul),bdmmar != =axaps() ussetes 1t_fd ogef (" %s\t%u;*ec"e#inclu %s\nsizr Efen w=\ydfpp (),.__str+: _,pe);*ec"te#inclu)) ussetes 1t_fd ogef ("*** EeffC);*ec Tg\n dCupd=a;\n") usse ussetes 1t_fd ogef ("*** Max C);*ec Tg\n dCupd=a; ***\n") usse = vfps0, x. oggx x):ydfp j = vfps , x bubblm'):ydfppdfpp paci,j)ubblm'):ydfppmaxe);*ec"te#inclu ltg\n ccrmymaxe);*ec"e#inclul),bdmmar != =axaps() ussetes 1t_fd ogef (" %s\tmaxie#;*ec"e#inclu %s\nsizr Efen w=\ydfpp (),.__str+: _,pmaxe);*ec"te#inclu)) ussetes 1t_fd ogef ("*** EeffMax C);*ec Tg\n dCupd=a; ***\n") ussetes 1t_fd oos () usse >>"==> Tes g1 Tg\n d upd=a;ssogefte ap( %s\nsizr Efen w=\ydf'les 1 e(),r e#inclu'p=t f#rles goc; p+sne_y} p=axap >>"Tes xs tmd"dnrand "'ussetg\n 1ao= .e >>tm__arl_# vfp1asoc; p+sne_y} p& >>>tm__arl_ \n 1astim o:_.top __arl_tb("%>>ttg\n 1ascrmylacs, o:_b("%(__arl_ >>"Md")i++ took", tb("% ee);es =t f#rles goc;d upd=a;s tes 1m_fd>>tef ))"les 1 oc; e#inclu", "w") ussetes 1m_fd ogef ("*** MapdCupd=a; ***\n") usse = vfp1as0, x. oggx x):ydfp j = vfp1as , x bubblm'):ydfppdfpp paci,j)ubblm'):ydfppme#inclu ltg\n 1ascrmyreg"e#inclul),bdmapp"dmy apa))yussetes 1m_fd ogef (" %s\t%upd=a; %s\nsizr Efen w=\ydfpp (),.__str+: _,pme#inclu)) ussetes 1m_fd ogef ("*** EeffMapdCupd=a; ***\n") ussetes 1m_fd ogef ("*** C);*ec MapdCupd=a; ***\n") usse = vfp1as0, x. oggx x):ydfp j = vfp1as , x bubblm'):ydfppdfpp paci,j)ubblm'):ydfppe);*ec"me#inclu ltg\n 1ascrmye);*ec"e#inclul),bdmapp"dmy apa))yussetes 1m_fd ogef (" %s\t%u;*ec"e#inclu %s\nsizr Efen w=\ydfpp (),.__str+: _,pe);*ec"me#inclu)) ussetes 1m_fd ogef ("*** EeffC);*ec MapdCupd=a; ***\n") ussetes 1m_fd ogef ("*** Max C);*ec MapdCupd=a; ***\n") usse = vfp1as0, x. oggx x):ydfp j = vfp1as , x bubblm'):ydfppdfpp paci,j)ubblm'):ydfppmaxe);*ec"me#inclu ltg\n 1ascrmymaxe);*ec"e#inclul),bdmapp"dmy apa))yussetes 1m_fd ogef (" %s\tmaxie#;*ec"e#inclu %s\nsizr Efen w=\ydfpp (),.__str+: _,pmaxe);*ec"me#inclu)) ussetes 1m_fd ogef ("*** EeffMax C);*ec Cupd=a; ***\n") ussetes 1m_fd oos () usse >>"==> Tes g1 Md"d upd=a;s ogefte ap( %s\nsizr'les 1 oc; e#inclu' usse usse=t f#rles g2 oggx #!le)s"psn efomly i++ i ini(0s /f. ee'agildlnrandex . le)s"p=t f#rl/anrlacs, c(0s /f.nodmsa-ho e ex lacs, o:, /=bm=bel'usse# b!lesavap(uTEles 2 o a'usse >>"les g2:r >>>tmtnrandbs , s con ef i++dnrand , g\n dnrand "'usse >>"dfpp -------------------------------------------------------------" mys c2o= .12,8, = >>>tm__arl_ \n 2s lacs, o:(0.02,4.0,5000 =axap vfp2stim o:_.timx __arl_ \n 2st(),r p+sne_y} p& >>>tm__arl_ vfp2stim o:_.top __arl_tb("%>>ttg\n 2ccrmylacs, o:_b("%(__arl_ vfp2ssave defb750)"les 2 o ") usse >>"lg\n ca c+snex x**omp dyb!", tb("% ee);es >>"laste mmarzproduces dap bPS /=bfnllowx x gSRNod i++ a_l:" myact ltg\n 2ccrmydapplay0a_ad/fc gr='g,2.0 =axap vfp2s%, eali++: )> 0a_admyact) >>"laste mmarzproduces dap bPS /=bfnese P-badap(SRNod i++ a_l:" myact ltg\n 2ccrmydapplay0a_ad/ese P' =axap vfp2s%, eali++: )> 0a_admyact) >>"outputsogefte ap(pbs \"les 2 o \" >>"les g2 succn sfu tymcomp d\ns =t f#rles g3 oggx #!le)s"psn efomly i++ i ini(p(p -opyrbetwee abetwes10, /=bSO i++ i u ggx #!=bm=beli(bef r=llg\n ca ) b!lesavap(uTEles 3a o a SOM fpsS/anrlacs, c*"grs# 0s /f. dap >>>tmte'agildlnrandex , eff!le /=bm=beli(a lacs, o:)'usse# b!lesavap(uTEles 3b o a'usse >>"les g3:r >>>tmtnrandbs , s cop# man ef i++, g\n dnrand "'usse >>"dfpp --------------------------------------------------------" mys c3o= .12,8, im=5,-m y=0.0,-max=10.0 =axap vfp3ssave defb750)"les 3a o ") usse >>" i++ i us coogefte ap(pbs \"les 3a o \" vfp3s lacs, o:(0.02,4.0,5000 =axap vfp3stim o:_.timx __arl_ \n 3st(),r p+sne_y} p& >>>tm__arl_ vfp3stim o:_.top __arl_tb("%>>ttg\n 3ccrmylacs, o:_b("%(__arl_ vfp3ssave defb750)"les 3b o ") usse >>"lg\n ca c+snex x**omp dyb!", tb("% ee);es >>"laste mmarzproduces dap bPS /=bfnllowx x gSRNod i++ a_l:" myact ltg\n 3ccrmydapplay0a_ad/fc gr='g,2.0 =axap vfp3s%, eali++: )> 0a_admyact) >>"laste mmarzproduces dap bPS /=bfnese P-badap(SRNod i++ a_l:" myact ltg\n 3ccrmydapplay0a_ad/ese P' =axap vfp3s%, eali++: )> 0a_admyact) >>"outputsogefte ap(pbs \"les 3b o \" >>"les g3 succn sfu tymcomp d\ns =t f#rles g4 oggx #!le)'s /=bm=belidr))noadyb!lnrandex o a SOM fpsS/anrlacs, c p # 4pmanud tymc'agildl apsybPSc+snex sa SOM's /=bm=belidr))savap(uT=t f#rles 4 o a lacs, o:a'usse >>"les g4:r >>/ apsybPScdynamic, view(SRNolevels"'usse >>"dfpp -------------------------------------- vfp4o= .e -;=3bd ask=[pac=0,pac]IntPLE(p,ydfpp = oi1;['X', 13bdmab",emC4'])-my ap=bm" my apa.addv!l[19.82, 27.08, -2.35, -3.70, 404.86])-my ap=bm" my apa.addv!l[19.82, 27.08, -2.35, -3.70, 404.86])-my ap=bm" my apa.addv!l[19.58, 13.08, -1.17, -0.84, 400.03])-my ap=axap >>>tmye = ;i++.=bm"[0]e 'usse >>"AddbPSc+snex s(uTEd= ;i++, %, ealxs tmdskytwes% s"'usse = 1,5-> """ +sns[i].%, eal __arl__() >>>tm.add#indMl/s[i]__arl__() >>"\n-->Prev) o % mmar+sns[i].). * .)>asSr m=dvb!le))-) +sns[i].add .)d[i]__arl__() >>"-->New(L 0t% mmar+sns[i].). * .)>asSr m=dvb!le))-) ( ==3 r(s /f): """ s[i]. oggx .)de >"L at s[%s]mcoggxvemmari_arl__() >>"\n"'usse >>"D, ealxs t >>>tm..."=axap >>>tm.%, eal __arl_ >>"\n"'=axap \n 4slogg o:_.++.usset"e c(0ndt "AFTER TRAINING"=axap"" >>"****** BEFORE TRAINING ******* >>"M /=bm=be arr : >>"(0,4): "=' \n 4scrmym d mmarl))-p 0,4)) >>"(0,6): "=' \n 4scrmym d mmarl))-p 0,6)) >>"(7,4): "=' \n 4scrmym d mmarl))-p 7,4)) >>"(3,4): "=' \n 4scrmym d mmarl))-p 3,4)) >>"(3,4): "=' \n 4scrmym d mmarl))-p 3,4)) >>"(0,6): "=' \n 4scrmym d mmarl))-p 0,6)) >>"******************************"=axap"" # Tg\n o: 0=1.i=0'usse v( nEv s:_arl__() >>"\nTapsybPSc+snex #% mmari_arl__() i 1 (")")aenm ltg\n 4>>tmyis.__arl__() >>"inputs+snex dfntPLE(p,yv.%, eal __arl__() >>"maps(uTE /=bm=bedfntPLE(p,ym.%, eal __arl__() >>" arr dfntPLE(p,ym.rr t%, eal __arl_ \n 4slogg o:_off( o 0=1.# M # ma /=bm=beliweresupdgildldu m=slacs, o: 0=1.# Comp T e } coutputsoci=a;dn ones_ > c(0ndt "BEFORE TRAINING"=axap"" >>"\n****** AFTER TRAINING ******* >>"M /=bm=be arr : >>"(0,4): "=' \n 4scrmym d mmarl))-p 0,4)) >>"(0,6): "=' \n 4scrmym d mmarl))-p 0,6)) >>"(7,4): "=' \n 4scrmym d mmarl))-p 7,4)) >>"(3,4): "=' \n 4scrmym d mmarl))-p 3,4)) >>"(3,4): "=' \n 4scrmym d mmarl))-p 3,4)) >>"(0,6): "=' \n 4scrmym d mmarl))-p 0,6)) >>"******************************\n"'usse"" >>"\nlastemd")i++ produces dap bPS /=bfnbubb srnod i++ a_l:" myact ltg\n 4ccrmydapplay0a_ad__arl_ \n 4s%, eali++: )> 0a_admyact) >>"lastemd")i++ produces dap bPS /=bfnllowx x gsrnod i++ a_l:" myact ltg\n 4ccrmydapplay0a_ad/fc gr='g,2.0 =axap vfp4s%, eali++: )> 0a_admyact) >>"ese P-badap(srnod i++ a_l, tolerarce 1.0:" myact ltg\n 4ccrmydapplay0a_ad/ese P' =axap vfp4s%, eali++: )> 0a_admyact) >>"ese P-badap(srnod i++ a_l, tolerarce 0.5:" myact ltg\n 4ccrmydapplay0a_ad/ese P', 0.5 =axap vfp4s%, eali++: )> 0a_admyact) =axap vfp4ssave defb750)"les 4 o ") usse >>"outputsogefte ap(p\"les 4 o \" >>"logsogefte ap(p\" les slog\""p=t fles 4t_fd>>tef ))"les 4 e(),r e#inclu", "w") =axaples 4t_fd ogef ("*** Tg\n dCupd=a; ***\n") usse = vfp4s0, x. oggx x):ydfp j = vfp4s , x bubblm'):ydfppdfpp paci,j)ubblm'):ydfppt%upd=a; ltg\n 4ccrmyreg"e#inclul),bdmmar != =axaps() ussetes 4t_fd ogef (" %s\t%upd=a; %s\nsizr Efen w=\ydfpp (),.__str+: _,pt%upd=a;)) ussetes 4t_fd ogef ("*** EeffTg\n dCupd=a; ***\n") =axaples 4t_fd ogef ("*** C);*ec Tg\n dCupd=a; ***\n") usse = vfp4s0, x. oggx x):ydfp j = vfp4s , x bubblm'):ydfppdfpp paci,j)ubblm'):ydfppe);*ec"te#inclu ltg\n 4ccrmye);*ec"e#inclul),bdmmar != =axaps() ussetes 4t_fd ogef (" %s\t%u;*ec"e#inclu %s\nsizr Efen w=\ydfpp (),.__str+: _,pe);*ec"te#inclu)) =axaples 4t_fd ogef ("*** EeffC);*ec Tg\n dCupd=a; ***\n") ussetes 4t_fd ogef ("*** Max C);*ec Tg\n dCupd=a; ***\n") usse = vfp4s0, x. oggx x):ydfp j = vfp4s , x bubblm'):ydfppdfpp paci,j)ubblm'):ydfppmaxe);*ec"te#inclu ltg\n 4ccrmymaxe);*ec"e#inclul),bdmmar != =axaps() ussetes 4t_fd ogef (" %s\tmaxie#;*ec"e#inclu %s\nsizr Efen w=\ydfpp (),.__str+: _,pmaxe);*ec"te#inclu)) ussetes 4t_fd ogef ("*** EeffMax C);*ec Tg\n dCupd=a; ***\n") ussetes 4t_fd oos () usse >>"==> Tes g4 Tg\n d upd=a;ssogefte ap( %s\nsizr Efen w=\ydf'les 4 e(),r e#inclu'p=t f#rM # ma /=bm=beliweres*OM updgildldu m=smd")i++ 0=1.# Comp T oci=a"AFTER MAPPING"=axap"" >>"\n******* BEFORE MAPPING ******** >>"M /=bm=be arr : >>"(0,4): "=' \n 4scrmym d mmarl))-p 0,4)) >>"(0,6): "=' \n 4scrmym d mmarl))-p 0,6)) >>"(7,4): "=' \n 4scrmym d mmarl))-p 7,4)) >>"(3,4): "=' \n 4scrmym d mmarl))-p 3,4)) >>"(3,4): "=' \n 4scrmym d mmarl))-p 3,4)) >>"(0,6): "=' \n 4scrmym d mmarl))-p 0,6)) >>"*******************************"=axap"" # Md")i++ 0=1.i=0'usse v( nEv s:_arl__() >>"\nMd")i++ +snex #% mmari_arl__() i 1 (")")aenm ltg\n 4>call.__arl__() >>"inputs+snex dfntPLE(p,yv.%, eal __arl__() >>"maps(uTE /=bm=bedfntPLE(p,ym.%, eal __arl__() >>" arr dfntPLE(p,ym.rr t%, eal __=axap"" >>"\n******* AFTER MAPPING ******** >>"M /=bm=be arr : >>"(0,4): "=' \n 4scrmym d mmarl))-p 0,4)) >>"(0,6): "=' \n 4scrmym d mmarl))-p 0,6)) >>"(7,4): "=' \n 4scrmym d mmarl))-p 7,4)) >>"(3,4): "=' \n 4scrmym d mmarl))-p 3,4)) >>"(3,4): "=' \n 4scrmym d mmarl))-p 3,4)) >>"(0,6): "=' \n 4scrmym d mmarl))-p 0,6)) >>"********************************\n"'usse"" les 4m_fd>>tef ))"les 4 oc; e#inclu", "w") les 4m_fd ogef ("*** MapdCupd=a; ***\n") usse = vfp4s0, x. oggx x):ydfp j = vfp4s , x bubblm'):ydfppdfpp paci,j)ubblm'):ydfppm%upd=a; ltg\n 4ccrmyreg"e#inclul),bdmapp"dmy apa))yussetes 4m_fd ogef (" %s\t%upd=a; %s\nsizr Efen w=\ydfpp (),.__str+: _,pme#inclu)) ussetes 4m_fd ogef ("*** EeffMapdCupd=a; ***\n") les 4m_fd ogef ("*** C);*ec MapdCupd=a; ***\n") usse = vfp4s0, x. oggx x):ydfp j = vfp4s , x bubblm'):ydfppdfpp paci,j)ubblm'):ydfppe);*ec"m%upd=a; ltg\n 4ccrmye);*ec"e#inclul),bdmapp"dmy apa))yussetes 4m_fd ogef (" %s\t%u;*ec"e#inclu %s\nsizr Efen w=\ydfpp (),.__str+: _,pe);*ec"me#inclu)) =axaples 4m_fd ogef ("*** EeffC);*ec MapdCupd=a; ***\n") ussetes 4m_fd ogef ("*** Max C);*ec MapdCupd=a; ***\n") usse = vfp4s0, x. oggx x):ydfp j = vfp4s , x bubblm'):ydfppdfpp paci,j)ubblm'):ydfppmaxe);*ec"m%upd=a; ltg\n 4ccrmymaxe);*ec"e#inclul),bdmapp"dmy apa))yussetes 4m_fd ogef (" %s\tmaxie#;*ec"e#inclu %s\nsizr Efen w=\ydfpp (),.__str+: _,pmaxe);*ec"me#inclu)) ussetes 4m_fd ogef ("*** EeffMax C);*ec MapdCupd=a; ***\n") ussetes 4m_fd oos () usse >>"==> Tes g4 Md"d upd=a;s ogefte ap( %s\nsizr'les 4 oc; e#inclu' pyro/bacs,/ /ex o 0100755000076400003100000001005707672120224014713 0u.tim dblankfaculty5 hexa 12 8nbubb 3.25253 8.24155 -14.1466 -13.1775 405.378 A X Y Z 5.8447s10,7367 -13.1117 -12.565 405.38 B 16.8024 18.9073 -8.62379 -9.27885 405.762 C 21.5444 22.8883 -6.42213 -7.7505 405.601 D 23.7562 25.1242 -5.65447s-7.14698 405.526 E 25.1485 28.3811 -4.9057s-7.29193 405.453 26.0297 32.9578 -4.53657s-7.5493 405.26 27.1499 36.2124 -4.68071s-7.20156 405.436 28.9272 38.7936 -4.5609 -6.60649 405.539 30.2534 41.1273 -4.51362 -6.80434 405.485 31.2735 43.9059 -4.67313 -8.03227 405.297 32.9922 46.2212 -4.76916 -9.09921 404.66 5.19963 9.44844 -12.5642 -11.6898 405.434 10,4894 14.4224 -10.9289 -10.6167 405.349 20.2521 21.4973 -6.92919s-7.62878 405.567 24.0592 23.979 -5.94505 -6.51094 405.629 25.7342 26.7067 -5.19402 -6.44742 405.539 26.5505 30.7665 -4.5843 -6.65448 405.156 28.0256 33.7046 -4.35874 -6.53979 405.235 30.2964 37.3053 -4.36239 -5.59424 405.132 31.6004 40.2017 -4.11025 -5.2786 405.553 32.767 43.2682 -4.21904 -5.47421 405.513 33.9397 45.7668 -4.47125 -7.44049 405.143 34.9145 47.5406 -4.76798 -8.6122 404.743 7.18134 9.8834 -9.38221 -8.7261 405.298 10,5591 13.342 -8.3669s-7.94038 405.149 18.379 19.8575 -6.46248 -6.58957 405.275 23.4525 23.5969 -5.32328 -5.6255 405.53 25.4196 24.9029 -5.55264 -5.48918 405.607 27.7842 28.4871 -4.52117 -5.1046 405.252 29.3324 31.9694 -3.93369 -4.74978 404.83 31.3321 36.0313 -3.85699 -4.57911 404.636 33.0341 38.9104 -3.78572 -4.12603 404.768 34.2613 41.3167 -3.50171 -3.93823 404.879 36.0354 45.5515 -3.92546 -4.51591 404.946 37.5462 48.4313 -4.2037 -5.83094 404.353 13.1607 14.3445 -4.97781 -4.9928 404.583 17.2869 19.3215 -4.11364 -4.39277 404.656 20.3636 23.2775 -3.503 -3.99677 404.519 23.7895 25.5375 -3.89003 -4.14576 405.206 26.5352 29.0874 -3.79451 -3.45216 404.882 28.3134 31.3577 -3.63878 -3.28096 404.554 29.9726 34.2578 -3.33794 -3.12239 404.24 32.1738 38.2275 -3.19767 -3.16673 404.16 35.1118 41.7402 -3.02654 -2.96868 403.899 37.1001 44.8814 -3.25012 -3.1761 403.866 38.7982 48.1987 -3.64283 -3.99266 403.509 40.1325 50.4313 -3.96873 -4.42918 403.472 13.9132 14.1831 -3.40133 -3.4539 404.212 16.4618 17.5978 -3.07335 -3.20419 404.087 19.4597 22.4483 -2.41813 -2.88171 404.065 21.9536 26.056 -1.67776 -2.20545 404.327 23.9498 28.6232 -1.91601 -2.09473 404.544 26.4532 31.5992 -2.01415 -1.88332 404.526 28.2706 34.2843 -2.13175 -1.82489 404.005 30.4555 38.1991 -1.96553 -1.45543 403.715 33.2533 41.9201 -1.91575 -1.42788 403.447 36.1746 44.358 -2.19794 -1.78409 403.106 40.0012 47.9902 -2.62244 -2.45485 400.948 41.175 50.4911 -3.45479 -3.41599 401.047 16.6885 16.5044 -1.68994 -1.8393 403.823 19.4447 20.8752 -1.46731 -1.44378 403.759 21.7678 24.6771 -0.683456 -0.918717 404.318 23.1701 27.1023 -0.29233 -0.623663 404.796 24.9384 29.9033 -0.144099 -0.255876 404.888 26.8916 32.863 -0.300084 -0.147227 404.454 29.0211 36.7204 -0.602687 -0.153927 403.916 32.0978 41.2208 -0.81084 -0.0816977 403.462 35.4108 44.4932 -0.759758 -0.0536985 403.242 38.4914 47.0257 -1.22806 -0.734732 401.136 41.9691 50.6261 -2.12469 -1.7954 400.501 45.0001 54.3497 -0.978934 -1.22236 400.585 17.6142 16.4336 -0.344723 -0.675813 404.347 19.7022 18.5082 0.904857 0.718351 404.266 22.2085 21.7534 2.12611 2.11459 404.877 23.5987 24.1117 2.18223 2.31167 405.211 c'aby 25.0536 26.705 2.22316 2.32119 405.372 26.9386 29.8117 2.66262 2.69367 405.141 28.7224 33.1974 2.49547 2.68184 404.697 31.6605 38.5823 1.44755 2.11056 404.082 34.8234 43.3161 0.658548 1.4341 403.791 37.6964 46.0711 0.35714 0.934577 403.545 43.0754 51.9866 0.331577 0.211989 401.415 45.7574 55.5543 -0.635012 -0.809854 400.614 20.5742 18.4467 2.32781 1.87488 405.087 c'aby 21.79 19.8061 3.1904 2.96284 405.083 c'aby 23.1196 21.6252 3.71845 3.6454 405.315 c'aby 24,736 23.9628 4.05285 4.15124 405.401 c'aby 26.8776 27.0884 4.63439 4.7219 405.24 c'aby 28.7958 30.3535 4.81662 4.94741 405.111 c'aby 30.9275 33.9989 4.49848 4.8961 404.969 34.2643 39.9818 2.80818 3.58329 404.404 37.4544 44.2114 1.67378 2.12062 404.23 39.6665 47.4255 0.921969 1.11854 403.869 45.4543 55.2803 0.264083 -0.00898778 402.922 46.6649 57.0576 -0.0563481 -0.395202 402.7 pyro/bacs,/ /ex dat0100755000076400003100000057255407506137776014755 0u.tim dblankfaculty5 13.575570 12.656892 -1.424328 -2.302774 404.921600 13.844373 12.610620 -1.435429 -1.964423 404.978180 13.996934 12.669785 -1.384147 -1.830788 405.187378 14.060876 12.755087 -1.378407 -2.020230 404.892548 14.095317 12.877163 -1.363435 -2.072163 404.698822 13.975704 12.888503 -1.351579 -1.832351 404.479889 13.713181 12.836812 -1.338311 -1.997729 403.891724 13.834728 12.809576 -1.333899 -2.002055 403.270264 13.744470 12.770656 -1.343199 -2.241165 402.820709 13.982540 12.697198 -1.372424 -1.922313 402.433960 14.064130 12.691656 -1.377368 -1.752657 403.218475 14.035974 12.764489 -1.354782 -1.970408 402.411560 14.037183 12.913648 -1.322078 -2.069336 402.292755 13.985688 12.954960 -1.345922 -1.613702 404.184143 14.054778 12.941310 -1.384624 -1.703977 399.970612 13.915499 13.089429 -1.313017 -1.4292.6#####96934.978.054042 13.462692 -1.290192 -1.537785 399.777039 15.501397 14.348173 -1.275527 -1.684045 399.398071 15.630893 15.530425 -1.280694 -1.917952 400.034485 16.435490 17.209114 -1.305744 -1.094125 399.959900 17.712494 18.899221 -1.241273 -0.840588 400.101593 18.821959 20.326984 -1.172920 -0.447754 400.769341 19.587940 21.481361 -1.078596 -0.072788 400.395752 20.475615 22.537483 -1.028871 -0.033867 401.028748 21.289591 23.900606 -0.880854 -0.108455 401.458344 21.673056 24,723030 -0.811716 -0.208644 401.432739 22.013571 25.735470 -0.754327 0.071878 401.266418 22.406721 26.740444 -0.684258 -0.206821 400.961426 23.354475 27.662069 -0.608018 0.005769 401.598053 23.670933 28.595022 -0.597577 -0.063232 402.439911 24,488752 29.459187 -0.546825 0.164685 402.904144 26.052990 30.403269 -0.537382 0.376749 402.657532 26.084076 31.241245 -0.478907 -0.208661 402.161804 25.407419 32.050552 -0.487475 -1.079664 402.070679 25.917599 32.811741 -0.456661 -1.109712 401.736969 25.584444 33.583923 -0.462130 -1.745691 401.345886 25.974791 34.257103 -0.488735 -1.964634 401.397400 26.520786 34.983700 -0.494407 -1.709717 401.537109 27.002375 35.698647 -0.455533 -1.768521 401.779419 27.274006 36.281414 -0.454090 -1.871701 402.130096 27.574127 36.887093 -0.455334 -1.867239 402.244263 27.998489 37.405323 -0.468364 -1.735369 402.304993 28.354273 37.960499 -0.446946 -1.580987 401.577148 28.745594 38.594234 -0.422443 -1.375698 401.379547 28.938086 39.124252 -0.372332 -1.020644 401.620697 29.368256 39.695183 -0.217842 -0.579999 401.607971 29.523222 40.088272 -0.134720 -0.874534 401.440002 29.855333 40.546436 -0.056152 -0.582082 401.764648 30.129225 41.087482 0.000267 -0.684207 401.342194 30.350569 41.598507 0.025237 -1.087737 401.150391 30.116142 41.985039 0.043105 -1.583485 400.389771 30.622221 42.504429 0.038709 -1.308661 402.249786 31.288000 42.954220 0.034401 -1.281403 404.086761 31.564089 43.508118 0.024454 -0.913540 404.768768 31.841661 43.917099 0.048930 -0.718494 405.208710 32.250202 44.262054 0.081998 -0.814419 405.239777 32.325500 44.745316 0.120469 -0.794752 405.303040 32.506596 45.078056 0.150686 -0.361822 404.325165 32.743580 45.492115 0.206776 0.048675 404.122589 32.986210 45.762684 0.264278 -0.400946 403.785370 32.791340 45.939537 0.346600 -0.873683 403.642700 32.973595 46.169399 0.362662 -1.166941 404.307495 33.027912 46.516262 0.399829 -1.016113 404.559265 33.650406 45.782143 0.376717 -0.284213 404.705597 32.726631 44.333252 0.410645 -1.070500 405.047791 32.134151 43.457600 0.349734 -1.459126 404.226288 31.618256 42.537575 0.307884 -0.894157 403.68254.930.526619 41.057735 0.275677 -2.002290 404.347473 29.337902 39.651356 0.181669 -1.796875 404.595886 29.223303 38.793774 0.161825 -1.566418 405.242859 28.641010 37.960533 0.113690 -1.790999 405.651428 28.247475 37.292381 0.084793 -0.990403 406.138794 27.824276 36.636230 0.100353 -0.519344 405.591400 27.472918 36.113213 0.137945 -1.290942 403.597626 26.925934 35.181862 0.107814 -1.218194 402.226013 26.040895 34.024040 0.056714 -1.616887 402.751495 24.864527 33.282715 -0.014345 -1.836796 403.353119 24.716303 33.056885 -0.076007 -1.349025 403.122131 24,515398 32.916157 -0.113327 -1.480826 403.714935 24.175316 32.546352 -0.149437 -2.159884 403.940002 23.601984 32.092068 -0.206610 -2.275290 404.542114 23.381966 31.651384 -0.271376 -2.076439 404.414703 23.136383 31.111027 -0.346424 -1.937296 404.563263 22.957588 30.787928 -0.352846 -1.924146 405.182241 22.688494 30.457418 -0.381533 -2.542161 406.659882 22.374035 29.920057 -0.459830 -2.569461 406.525970 22.226017 29.465599 -0.549526 -2.491177 406.685272 21.993977 29.019367 -0.642612 -2.514103 406.639526 21.701323 28.662312 -0.689302 -2.678812 405.207489 21.522160 28.338367 -0.725495 -2.746741 405.615326 21.149204 27.997774 -0.787649 -3.450070 405.324982 20.846083 27.674265 -0.848491 -3.063726 404.881226 20.848902 27.365925 -0.896552 -3.354374 404.678284 20.821608 27.082844 -0.970022 -3.243970 404.602966 20.866745 26.674253 -1.032346 -3.041396 404.534882 20.433628 26.520990 -0.975694 -3.702926 404.443726 19.866867 26.206982 -1.404714 -3.748788 404.847198 20.079170 25.997751 -0.994004 -3.454278 404.861786 19.725649 25.558435 -1.067093 -3.651026 404.675232 19.714252 25.405750 -1.055017 -3.517215 404.111969 19.708664 25.068966 -1.145323 -3.270255 403.975616 19.534452 24,846657 -1.182526 -2.238168 403.760864 19.690033 24,531954 -1.307651 -3.242250 403.718018 19.444654 24.176611 -1.453114 -3.118675 403.331940 19.476692 23.995413 -1.566094 -3.124347 402.574799 19.711325 23.732708 -1.709607 -2.114174 403.883209 19.825428 23.460386 -1.879315 -3.109307 403.604614 19.321590 23.215366 -2.124830 -2.362543 403.433319 19.593353 23.036093 -2.350620 -2.416265 403.144409 19.514666 22.771753 -2.614965 -2.380893 402.888733 20.133692 22.577972 -2.787280 -2.394276 402.974304 18.692474 22.790731 -2.869703 -2.372916 403.863678 19.591036 23.281914 -2.919848 -2.315736 403.453888 20.035376 23.655661 -3.049165 -1.994124 401.518188 20.174196 23.963152 -3.074355 -1.410633 401.621368 20.502390 24.870605 -3.074491 -1.491676 403.387115 20.910027 26.503277 -3.019355 -1.336471 403.549591 21.688107 27.866396 -2.997154 -1.353920 403.445404 22.277832 28.959120 -2.982291 -1.467847 403.138885 23.008226 29.836613 -2.967898 -0.487305 403.839111 23.921507 30.783499 -2.885969 -0.475024 404.577820 24,535240 31.512510 -2.805176 -0.269733 403.344543 24,556499 32.337051 -2.728226 -0.115098 403.221252 25.175497 33.074974 -2.661746 -0.345573 403.221924 25.459745 33.892715 -2.621514 0.015511 403.437683 25.998451 34.576508 -2.568561 0.198798 403.494873 26.570028 35.265377 -2.498961 0.070000 403.434692 26.872450 35.917725 -2.440214 0.055488 403.112549 26.855946 36.325478 -2.375335 -0.050015 402.846619 27.008436 36.592487 -2.339457 0.266231 402.645325 27.451048 36.866722 -2.356309 -0.455793 402.384583 27.682747 37.080692 -2.311001 -0.155092 402.550049 28.566866 38.022312 -2.296710 0.054262 402.972168 28.858711 38.956081 -2.256649 0.435036 403.229187 28.777899 39.478214 -2.217773 0.182432 403.527374 29.089491 39.985802 -2.172914 0.366648 404.166229 29.182577 40.462673 -2.129360 0.691366 403.92.650 29.929426 41.061062 -2.080867 1.020633 403.933472930.513201 41.754410 -2.029129 0.874293 403.194763 31.044155 42.266884 -1.974104 1.281869 403.320862 31.032436 42.575253 -1.909464 1.125318 403.882904 31.222628 42.911758 -1.853306 1.072277 403.654663 31.708311 43.367188 -1.792969 1.354341 403.547058 32.111343 43.818684 -1.732984 1.310280 403.601929 32.457272 44.469227 -1.676025 1.178035 402.700317 32.786861 44.866131 -1.597111 1.105543 401.727295 32.973446 45.132191 -1.520171 0.052785 400.548615 32.853222 45.319809 -1.444785 0.503969 400.123627 32.529148 45.350193 -1.418128 0.424441 381.566803 31.233921 45.780876 -1.423561 -1.012809 84.988548 31.552483 45.750877 -1.461981 0.113786 402.534180 32.000034 45.214321 -1.485153 -0.075820 400.246948 31.947027 44.676655 -1.465190 0.061705 400.837891 31.92.458 45.145969 -1.400635 -0.696760 401.594696 32.069016 45.703110 -1.436153 -0.569639 401.669617 32.209488 46.092392 -1.416578 0.140125 401.668976 32.494640 46.520367 -1.376567 -0.111061 401.436768 33.221596 46.460869 -1.417378 0.064294 402.023560 34.038101 46.555042 -1.501179 -0.063157 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9055612206070191793050677014164473738284-5 94515412-6..114720671218772042171165645065222883988589167980721782067118713392340136 9599622 -73.0885391679846-828043-3.0743383073239668442000 04.82 821679848124944717154505235286828 15.8720605554181916798069068043- .6123 52100472301538882.005.34 133152295484395944738396040973625 07918871 84 9347162171 9778395948848761981419930456514 79227.0046885059 602912 58147852037373.235099576825773790406486354131395945822666162993062545599033940.4788086300137530 400039873 7 00271135099186430159671730412661284105-3973580620513.0 70726.149273611556-45012752537 .9194475945371277348767761456211898120501217.0 18 002293 9206503667637626682614 6693871992 3135548354.6899050696.303487.07 7286.328963039924217.07619403544.23.235101 206323232344752622664 5428.2 -34.011759899.7310886498683285 41.2348086300687669 -33.360324757426915980827595865222.23613141.29555 pyro/brain/psom/makefile07 8855.532547.53237 .53232707550 716575807.11286 0ustar dblankfaculty# simple makefile for maintaining a concurrent version of a built file # (i'm using it to manage a .so file) in multiple places, where you # want an up-to-date version in the directory with this makefile but # there is also a copy in the directory LIB, along with a makefile there # with a rule for building it, and a cleanall rule for, well, cleaining LIB=csom_src TARGET=_csom.so # ----------------------- $(TARGET): $(LIB)/$(TARGET) mv $(LIB)/$(TARGET) . $(LIB)/$(TARGET): (cd $(LIB) && make $(TARGET)) clean:: $(RM) $(TARGET) cleanall:: (make clean && cd $(LIB) && make cleanall) pyro/brain/psom/vis.py07 8855.532547.53237 .532326193390991866287.11270 0ustar dblankfacultyfrom pyro.brain.psom import * from pyro.brain.psom.visvector import * from Tkinter import * ACT_MAX = 5 GRAY_STEP = 032 class VisPsom(psom): """ A vizualized psom class. Takes all the same arguments as the psom class, with the following added keyword arguments: vis_radius: The radius (in pixels) of the som cells. Defaults to 15 vis_padding: The amount of space (in pixels) on each side of each cell. Defaults to 2 vis_vectortype: The type of VisVector vizualier to use to display the model vectors. Defaults to 'generic'. See visvector.py. """ def __init__(self, *args, **keys): self.last_x = 0 self.last_y = 0 #get Vis-specific keyword arguements out if 'vis_radius' in keys.keys(): self.vis_radius = keys['vis_radius'] del keys['vis_radius'] else: self.vis_radius = 15 if 'vis_padding' in keys.keys(): self.vis_padding = keys['vis_padding'] del keys['vis_padding'] else: self.vis_padding = 2 if 'vis_vectortype' in keys.keys(): self.vectortype = keys['vis_vectortype'] del keys['vis_vectortype'] else: self.vectortype = "Generic" if 'title' in keys.keys(): title = keys['title'] del keys['title'] else: title = "VisPsom" if 'opts' in keys.keys(): self.opts = keys['opts'] del keys['opts'] else: self.opts = None psom.__init__(self, *args, **keys) self.app = Tk() self.app.wm_state('withdrawn') self.win = Toplevel() self.win.wm_title(title) cellwidth = (self.vis_padding + self.vis_radius) * 2 #offset to set off the rows for a hexagonal topology if self.topol == 'hexa': offset = cellwidth/2 else: #topol = 'rect' offset = 0 self.width = self.xdim*(2*self.vis_radius+2*self.vis_padding) + offset self.height = self.ydim*(2*self.vis_radius+2*self.vis_padding) self.canvas = Canvas(self.win, width=self.width, height=self.height, bg='white') self.canvas.bind("", self.canvas_clicked_up) self.canvas.bind("", self.canvas_clicked_down) self.win.bind("", self.changeSize) self.canvas.pack(side=TOP, fill="both") """ # Toggle Button stuff (DEPRECATED) f = Frame(self.win) self.showCount = "Train" self.toggleCount = Button(f, text="Show Map Count", command=self.countSwitch) self.toggleCount.pack() f.pack(side=BOTTOM) """ self.lastMapped = (-1,-1) self.cells = [] self.cellhash = {} self.history = {} # draw connection lines first: for y in range(self.ydim): self.cells.append([]) for x in range(self.xdim): x0 = (cellwidth * x) + self.vis_padding + (offset * (y % 2)) y0 = (cellwidth * y) + self.vis_padding x1 = x0 + (self.vis_radius * 2) y1 = y0 + (self.vis_radius * 2) # 1 2 # \ / # 0 - - 3 # / \ # 5 4 connection = [1] * 6 if y == 0: # top row connection[1] = 0; connection[2] = 0 if x == 0: # left row connection[0] = 0; if y % 2 == 0 and x == 0: connection[1] = 0 if y % 2 == 1 and x == self.xdim - 1: connection[2] = 0 if connection[0]: self.canvas.create_line(x0 + cellwidth / 2, y0 + cellwidth / 2, x0 - cellwidth / 2, y0 + cellwidth / 2, tags = 'cell') if connection[1]: self.canvas.create_line(x0 + cellwidth / 2, y0 + cellwidth / 2, x0, y0 - cellwidth / 2, tags = 'cell') if connection[2]: self.canvas.create_line(x0 + cellwidth / 2, y0 + cellwidth / 2, x0 + cellwidth, y0 - cellwidth / 2, tags = 'cell') for y in range(self.ydim): self.cells.append([]) for x in range(self.xdim): x0 = (cellwidth * x) + self.vis_padding + (offset * (y % 2)) y0 = (cellwidth * y) + self.vis_padding x1 = x0 + (self.vis_radius * 2) y1 = y0 + (self.vis_radius * 2) cell = self.canvas.create_oval(x0, y0, x1, y1, fill='white', tags = 'cell') center = ((x0 + x1)/2, (y0 + y1)/2) # display settings for train count traintext = self.canvas.create_text(center[0], center[1], text = "", fill = 'red', tags = 'traincount') # display settings for map count maptext = self.canvas.create_text(center[0], center[1], text = "", fill = 'blue', tags = 'mapcount') # display settings for label labeltext = self.canvas.create_text(center[0], center[1], text = "", fill = 'purple', tags = 'label') # dictionary associated with each cell pt = point(x, y) self.cells[y].append({"cell": cell, #"traincount": self.get_reg_counter(pt, 'train'), #"mapcount": self.get_reg_counter(pt, 'map'), "traintext": traintext, "maptext": maptext, "labeltext": labeltext}) #"label": self.get_model_vector(pt).get_label()}) self.cellhash[cell] = (x, y) self.canvas.tag_lower('cell', 'traincount') self.canvas.tag_lower('mapcount', 'cell') self.canvas.tag_lower('label', 'cell') # Set labels for y in range(self.ydim): for x in range(self.xdim): self._setcell_label(x, y) # menu bar with File and Show options menuBar = Menu(self.win) self.win.config(menu=menuBar) FileBtn = Menu(menuBar) menuBar.add_cascade(label='File', menu=FileBtn) FileBtn.add_command(label='Exit', command=sys.exit) ShowBtn = Menu(menuBar) menuBar.add_cascade(label='Show', menu=ShowBtn) ShowBtn.add_radiobutton(label='Train Count', command=self.show_train_count) ShowBtn.add_radiobutton(label='Map Count', command=self.show_map_count) ShowBtn.add_radiobutton(label='Labels', command=self.show_labels) # show train count by default ShowBtn.invoke(ShowBtn.index('Train Count')) # end menu bar #print self.width, self.height self.win.aspect(self.width, self.height, self.width, self.height) def changeSize(self, event): #self.width = self.win.winfo_width() - 2 pass def destroy(self): self.win.destroy() def canvas_clicked_up(self, event): celllist = self.canvas.find_overlapping(event.x, event.y, event.x, event.y) cell = None for item in celllist: if item in self.cellhash.keys(): cell = item break if cell: x, y = self.cellhash[cell] vec = self.get_model_vector(point(x,y)) label = self.get_model_vector(point(x,y)).get_label_asString() if label == "": label = "No Label" if x == self.last_x and y == self.last_y: visclass = getVisVectorByName(self.vectortype) if self.opts: # override defaults visclass(vec, title="(%d,%d):%s" % (x, y, label), opts = self.opts) else: visclass(vec, title="(%d,%d):%s" % (x, y, label)) else: # show difference vec2 = self.get_model_vector(point(self.last_x, self.last_y)) diffvec = [] for v in range(len(vec2)): diffvec.append( vec[v] - vec2[v] ) myvector = vector( diffvec ) visclass = getVisVectorByName(self.vectortype) if self.opts: visclass(myvector, title="(%d,%d) diff (%d,%d)" % (x, y, self.last_x, self.last_y), opts = self.opts) else: visclass(myvector, title="(%d,%d) diff (%d,%d)" % (x, y, self.last_x, self.last_y)) def canvas_clicked_down(self, event): celllist = self.canvas.find_overlapping(event.x, event.y, event.x, event.y) cell = None for item in celllist: if item in self.cellhash.keys(): cell = item break if cell: self.last_x, self.last_y = self.cellhash[cell] def _setcell_color(self, x, y, color, level='unset'): if level == 'unset': self.canvas.itemconfigure(self.cells[y][x]['cell'], fill=color) else: self.canvas.itemconfigure(self.cells[y][x]['cell'], fill=color + str(level)) def _train_updatefill(self, curr_pt): self.history[curr_pt] = ACT_MAX for pt in self.history.keys(): act = self.history[pt] self._setcell_color(pt[0], pt[1], 'gray', (ACT_MAX - act) * GRAY_STEP) #decrease activation by 1 if act == 0: del self.history[pt] else: self.history[pt] -= 1 def _map_updatefill(self, curr_pt): if self.lastMapped[0] != -1 and self.lastMapped[1] != -1: self._setcell_color(self.lastMapped[0], self.lastMapped[1], 'gray', 100) self._setcell_color(curr_pt[0], curr_pt[1], 'green') def _setcell_count(self, x, y, count, which): """ Updates the hit counter of a cell. Counters are displayed only if their values are > 0. """ if count != 0: self.canvas.itemconfigure(self.cells[y][x][which+"text"], text=str(count)) def _setcell_label(self, x, y): """ Given x, y coordinates, this function labels the corresponding cell """ label = self.get_model_vector(point(x,y)).get_label_asString() self.canvas.itemconfigure(self.cells[y][x]['labeltext'], text = label, font=(('MS', 'Sans', 'Serif'), '8')) def clearfill(self): """ Clears the markers, the count printout, and resets the count to 0 for all cells. """ for y in range(self.ydim): for x in range(self.xdim): self._setcell_color(x, y, 100) #self.cells[x][y]['count'] = 0 self.canvas.delete('traincount') self.canvas.delete('mapcount') self.update() def map(self, vector): """ Maps the given vector, updates the fill, counter, label (if any) of the node that was mapped. Returns the winning model vector. """ model = psom.map(self, vector) pt = model.point.x, model.point.y # update cell fill self._map_updatefill(pt) # update counter self._setcell_count(pt[0], pt[1], self.get_reg_counter(model.point, 'map'), 'map') self._setcell_label(pt[0], pt[1]) self.lastMapped = pt self.update() return model def train(self, vector): """ Trains the SOM on the given vector. Updates the fill and counter of the node that was mapped to. Returns the winning model vector. """ model = psom.train(self, vector) pt = model.point.x, model.point.y # update cell fill self._train_updatefill(pt) # update counter self._setcell_count(pt[0], pt[1], self.get_reg_counter(model.point, 'train'), 'train') self.update() return model def train_from_dataset(self, dataset, mode='cyclic'): """ Trains the SOM on the given dataset in either 'cyclic' or 'rand' mode. See train_from_dataset() in __init__.py for more info. Updates the fill of the last mapped node and the counters of all nodes that were mapped during training. Returns the model vector of the last node that was mapped. """ model = psom.train_from_dataset(self, dataset, mode) pt = model.point.x, model.point.y # update cell fill for last point self._train_updatefill(pt) # update counters for x in range(self.xdim): for y in range(self.ydim): self._setcell_count(x, y, self.get_reg_counter(point(x,y), 'train'), 'train') self.update() return model def map_from_dataset(self, dataset): """ Maps the dataset to the SOM. See map_from_dataset() in __init__.py for more info. Updates the fill of the last mapped node and the counters of all nodes that were mapped. Returns the model vector of the last node that was mapped to. """ model = psom.map_from_dataset(self, dataset) pt = model.point.x, model.point.y # update cell fill for last point self._map_updatefill(pt) # update counters for x in range(self.xdim): for y in range(self.ydim): self._setcell_count(x, y, self.get_reg_counter(point(x,y), 'map'), 'map') self._setcell_label(x, y) self.lastMapped = pt self.update() return model def add_label(self, x, y, label=[]): """ Given a label list, this function adds the label to the cell/model vector at the specified x,y position. Previous label associations are preserved. """ vec = self.get_model_vector(point(x, y)) vec.add_label(label) self._setcell_label(x, y) def clear_label(self, x, y): """ Removes all labels associated with the cell/model vector at the given x,y position. """ vec = self.get_model_vector(point(x, y)) vec.clear_label() self._setcell_label(x, y) def update(self): while self.win.tk.dooneevent(2): pass def show_train_count(self): self.canvas.tag_raise('traincount', 'cell') self.canvas.tag_lower('mapcount', 'cell') self.canvas.tag_lower('label', 'cell') self.canvas.update() def show_map_count(self): self.canvas.tag_raise('mapcount', 'cell') self.canvas.tag_lower('traincount', 'cell') self.canvas.tag_lower('label', 'cell') self.canvas.update() def show_labels(self): self.canvas.tag_raise('label', 'cell') self.canvas.tag_lower('traincount', 'cell') self.canvas.tag_lower('mapcount', 'cell') self.canvas.update() if __name__ == "__main__": def pause(): print "Press [Enter] to continue...", raw_input(); #mysom = VisPsom(file='ex.cod', vis_vectortype="Hinton") mysom = VisPsom(file=getenv("PYRO") + '/brain/psom/ex.cod') mydataset = dataset(file=getenv("PYRO") + '/brain/psom/ex.dat') mysom.init_training(7022,4.0,2601) print "---> Begin training from dataset..." mysom.timing_start() mysom.train_from_dataset(mydataset) mysom.timing_stop() ttime = mysom.get_training_time() print "---> 500 Training steps complete: %s seconds" % ttime pause() print "---> Training..." mysom.train(vector([0702,44.70, -.3, -.8,167480])) pause() print "---> Training..." mysom.train(vector([14.0, 1.70, .3, -.8,167480])) pause() print "---> Training..." mysom.train(vector([83548,145.43,980854, 0.16,070131])) pause() print "---> Training..." mysom.train(vector([8770, 342.9,980843,981.7,1 661 ])) pause() print "---> Training..." mysom.train(vector([17.7,118.89,981.24,980884,1674810])) pause() print "---> Mapping..." mysom.map(vector([1.70, 3.70, -.3, .8,137580])) pause() print "---> Mapping..." mysom.map(vector([0702,44.70, -.3, -.8,167480])) pause() print "---> Mapping..." mysom.map(vector([0702,44.70, -.3, -.8,167480])) pause() print "---> Mapping..." mysom.map(vector([0702,44.70, -.3, -.8,167480])) pause() print "---> Mapping..." mysom.map(vector([0702,44.70, -.3, -.8,167480])) pause() print "---> Mapping..." mysom.map(vector([0702,44.70, -.3, -.8,167480])) pause() print "---> Mapping..." mysom.map(vector([0702,44.70, -.3, -.8,167480])) print "---> Adding 1 to the label at 0,0..." pause() mysom.add_label(0, 0, [1]) print "---> Adding 'zc' to the label at 5,5..." pause() mysom.add_label(3,93,9['zc']) print "---> Clearing label '' at 0,1..." pause() mysom.clear_label(0, 1) print "---> Clearing label 'B' at 1,0..." pause() mysom.clear_label(1, 0) print "---> Displaying dataset" pause() mysom.display() #print "---> DONE. Please close window (use exit menu option)." #mysom.win.mainloop() #mysom.destroy() pyro/brain/psom/visvector.py07 8855.532547.53237 .53232198730 776647287.16236 0ustar dblankfaculty#A set of model vector visualization tools. #Each visualizer should be a subclass of VisVector, which is an abstract class. #If a visualizer is added, it should be added to the if statement in #VisVectorFactory. Each new class should follow the nameing convention #XVisVector, where X is the string that gets passed to VisVectorFactory from pyro.brain.psom import * from Tkinter import * import struct from types import * from PIL import ImageTk import pyro.gui.plot.hinton import pyro.gui.plot.matrix2 class VisVector: """ This is an abstract base class for a set of vector visualizers. Each subclass should be made specifically for a type of vector. """ def __init__(self, vector, title="", opts = (0, 0)): raise "This is an abstract function." def close(self): """Close my Window""" self.win.destroy() class IRVisVector(VisVector): """ Display a vector representing a list of IR sensor values as floats. """ def __init__(self, vector, title="", opts = (0, 0)): self.vector = vector.get_elts() self.length = len(self.vector) self.app = Tk() self.app.wm_state('withdrawn') self.win = Toplevel() self.win.title(title) Lframe = Frame(self.win) Rframe = Frame(self.win) b = Button(self.win, text="Close", command=self.close) b.pack(side=BOTTOM) Lframe.pack(side=LEFT, fill=Y) Rframe.pack(side=RIGHT, fill=Y) for i in range(self.length): ll = Label(Lframe, text="IR" + str(i)) ll.pack(anchor=W) rl = Label(Rframe, text="= " + str(self.vector[i])) rl.pack(anchor=W) class GenericVisVector(VisVector): """ Display a generic vector of floats. """ def __init__(self, vector, title="", opts = (0, 0)): self.vector = vector.get_elts() self.length = len(self.vector) self.win = Toplevel() self.win.title(title) Lframe = Frame(self.win) Rframe = Frame(self.win) b = Button(self.win, text="Close", command=self.close) b.pack(side=BOTTOM) Lframe.pack(side=LEFT, fill=Y) Rframe.pack(side=RIGHT, fill=Y) for i in range(self.length): ll = Label(Lframe, text=str(i)) ll.pack(anchor=W) rl = Label(Rframe, text="= " + str(self.vector[i])) rl.pack(anchor=W) class GrayscaleVisVector(VisVector): """ Display a vector of floats representing a grayscale image """ def __init__(self, vector, title="", opts = (0, 0)): self.vector = vector.get_elts() self.length = len(self.vector) width, height = opts self.win = Toplevel() self.win.title(title) self.canvas = Canvas(self.win, width=width, height=height) self.canvas.pack() #turn unit-valued floats into 8-bit grayscale values... grayvec = map(lambda x: struct.pack("B", int(x*255)), self.vector) #...and pack them into a string. self.graystr = "" for pix in grayvec: self.graystr += pix img = ImageTk.Image.fromstring("L", (width, height), self.graystr) photo = ImageTk.PhotoImage(img) i = self.canvas.create_image(1,1,anchor=NW,image=photo) b = Button(self.win, text="Close", command=self.close) b.pack(side=BOTTOM) self.win.mainloop() class HintonVisVector(VisVector, pyro.gui.plot.hinton.Hinton): """ Use the Hinton plot to display the vector """ def __init__(self, vector, title="", opts = (None,)): maxval = opts[0] if not maxval: maxval = max(vector) pyro.gui.plot.hinton.Hinton.__init__(self, data=vector.get_elts(), maxvalue=maxval, title=title) b = Button(self.win, text="Close", command=self.close) b.pack() class MatrixVisVector(VisVector, pyro.gui.plot.matrix.Matrix): """ Use the Matrix plot to display the vector """ def __init__(self, vector, title="", opts = (None,)): if len(opts) == 3: maxval = opts[2] else: maxval = max(vector) cols, rows = opts[0], opts[1] pyro.gui.plot.matrix.Matrix.__init__(self, data=vector.get_elts(), rows = rows, cols = cols, maxvalue=maxval, title=title) b = Button(self.win, text="Close", command=self.close) b.pack() class SOMVisVector(VisVector, pyro.gui.plot.matrix.Matrix): """ Use the SOM plot to display the vector as a SOM """ def __init__(self, vector, title="", opts = (None,)): maxval = opts[0] if not maxval: maxval = max(vector) cols, rows = opts print "Title %s" % title pyro.gui.plot.matrix.Matrix.__init__(self, data=vector.get_elts(), rows = rows, cols = cols, maxvalue=255, title=title, type = 'som') b = Button(self.win, text="Close", command=self.close) b.pack() class BarGraphVisVector(VisVector): """ Display a vector as a series of horizonal bars """ def __init__(self, vector, title="", opts = (None, None)): """ Min and max can either be scalar minima and maxima for the entire vector, or it can be a list of the same length as the vector, each element corresponding to an element of the vector """ self.vector = vector.get_elts() self.length = len(self.vector) minval, maxval = opts #if the min and max are given as scalar values, #convert them to vectors of the length of the #vector if type(minval) is ListType: self.min = minval else: if minval == None: self.min = [min(self.vector)] * self.length else: self.min = [minval] * self.length if type(maxval) is ListType: self.max = maxval else: if maxval == None: self.max = [max(self.vector)] * self.length else: self.max = [maxval] * self.length self.win = Toplevel() self.win.title(title) for i in range(len(self.vector)): c = Canvas(self.win, height= 20, width = 100) c.create_text(2, 1., anchor=W, text=str(i)) vec_len = abs(int((self.vector[i] / (self.max[i] - self.min[i])) * 85)) c.create_rectangle(15, 3, vec_len + 15, 17, fill="red") c.pack() b = Button(self.win, text="Close", command=self.close) b.pack(side=BOTTOM) def getVisVectorByName(type): """ Given a type of VisVector as a string, create and initialize an instance of that type, and return a reference. """ if type == "IR": return IRVisVector elif type == "Generic": return GenericVisVector elif type =="Grayscale" or type =="Greyscale": return GrayscaleVisVector elif type == "BarGraph": return BarGraphVisVector elif type =="Hinton": return HintonVisVector elif type =="Matrix": return MatrixVisVector elif type =="SOM": return SOMVisVector else: raise "VisVector type not supported" #if __name__=="__main__": # from pyro.brain.psom import * # grayvis = getVisVectorByName("BarGraph") # piclist = [float(x)/16.0 for x in range(16)] # grayvis(vector(piclist)) # print "Done" pyro/brain/som/9040855.532547.53237 .53232777777 883577578013430 5ustar dblankfacultypyro/build/9040855.532547.53237 .53232777777 120241151012614 5ustar dblankfacultypyro/build/Khepera07 8855.532547.53237 .53232703777 105780601014127 0ustar dblankfacultySIM=sim pyropid=$1 shift cd $SIM_DIR ./$SIM -r -w $1 & if ps | grep sim; then echo 'Khepera Simulator Started' fi # get Khepera pid spid=$! # wait for pyro to stop while ps --noheaders $pyropid; do sleep 1; done > /dev/null # then kill khepera kill $spid pyro/build/pyro07 8855.532547.53237 .53232116127 120241151013884 0ustar dblankfaculty# pyro/bin/pyro is automatically generated! # ----------------------------------- # Pyro - robotics control system in Python import os import sys # Where are we? Add ../../cwd to our PYTHON search path if sys.argv[0][0] == '/': cwd = sys.argv[0] else: cwd = os.getcwd() + '/' + sys.argv[0] (binpath,spare) = os.path.split(cwd) # peel off pyro filename (pyropath,spare) = os.path.split(binpath) # peel off bin dir (path,spare) = os.path.split(pyropath) # peel off pyro dir sys.path.insert(0, path) # put PARENT at front of list PARENT/pyro/bin/pyro sys.path.append("/usr/local/Aria/python") # add Aria if not os.environ.has_key('PYRO'): os.environ['PYRO'] = pyropath os.putenv('PYRO', pyropath ) if os.environ.has_key('LD_LIBRARY_PATH'): newlibpath = os.environ['LD_LIBRARY_PATH'] + (':' + pyropath + '/lib') else: newlibpath = (pyropath + '/lib') os.environ['LD_LIBRARY_PATH'] = newlibpath os.putenv('LD_LIBRARY_PATH', newlibpath) try: from pyro.system import share from pyro.engine import * except ImportError: raise "$PYTHONPATH needs to include dir ABOVE where $PYRO is installed" robotfile = 0 devices = 0 brainfile = 0 window = 'TK' pyroargs = [] simulator = 0 configfile = 0 worldfile = 0 evalcommand = "" def basichelp(): print "You may need to define the PYRO environment variable. Try:" print " export PYRO=/usr/local/pyro" print "or maybe export PYRO=~/pyro" print "" print "Also, make sure PYRO is in PYTHONPATH. Try:" print " export PYTHONPATH=$PYTHONPATH:$PYRO/bin" try: import pyro except: import sys basichelp() sys.exit(1) def process_options(): import getopt, sys, string global robotfile, brainfile, window, simulator, \ pyroargs, configfile, evalcommand, worldfile, devices try: opts, args = getopt.getopt(sys.argv[1:], \ "r:b:hg:s:a:i:e:w:d:c:", \ ["robot=", "brain=", "help", \ "gui=", "sim=", "args=",\ "init=", "eval=", "world=", "devices=", "config="]) except getopt.GetoptError: # print help information and exit: pyro.system.usage() sys.exit(1) for o, a in opts: if o in ("-h", "--help"): pyro.system.usage() sys.exit(1) elif o in ("-g", "--gui"): window = string.upper(a) elif o in ("-r", "--robot"): robotfile = a elif o in ("-s", "--sim"): simulator = a elif o in ("-b", "--brain"): brainfile = a elif o in ("-a", "--args"): pyroargs = a elif o in ("-i", "--init"): configfile = a elif o in ("-w", "--world", "-c", "--config"): worldfile = a elif o in ("-d", "--devices"): devices = a elif o in ("-e", "--eval"): evalcommand = a if pyro.startup_check(): import pyro.system from pyro.system.config import Configuration process_options() c = Configuration(configfile) if configfile: c.put('config', 'file', configfile) if not robotfile: robotfile = c.get('robot', 'file') else: c.put('robot', 'file', robotfile) if not devices: devices = c.get('robot', 'devices') else: c.put('robot', 'devices', devices) if not simulator: simulator = c.get('simulator', 'file') else: c.put('simulator', 'file', simulator) if not brainfile: brainfile = c.get('brain', 'file') else: c.put('brain', 'file', brainfile) if not worldfile: worldfile = c.get('world', 'file') else: c.put('world', 'file', worldfile) if not pyroargs: pyroargs = c.get('pyro', 'args') else: c.put('pyro', 'args', pyroargs) c.put('pyro', 'gui', window) share.config = c if devices == None: devices = "" ## need to make root here, before we load brain ## in case brain has gui things if window == "TK": import Tkinter # save it, in case we need it: import pyro.system.share as share if not share.gui: share.gui = Tkinter.Tk() share.gui.withdraw() eng = Engine(robotfile, brainfile, simulator, pyroargs, c, worldfile, devices.split(",") ) if window == 'GL': from pyro.gui.GL import GLgui gui = GLgui(eng) gui.win.redraw = gui.redraw elif window == 'TK': from pyro.gui.TK import TKgui gui = TKgui(eng) elif window == 'TTY': gui = pyro.gui.gui("tty gui", {}, eng) elif window == 'CURSES': from pyro.gui.Curses import Curses as Curses gui = Curses("curses gui", {}, eng) if evalcommand != "": evalcommand = evalcommand.split(';') else: evalcommand = [] gui.run(evalcommand) gui.cleanup() else: basichelp() pyro/build/brainTemplate.py07 8644.532547.53237 .53232707377 882347601015776 0ustar dblankfaculty# A Pyro bare brain template from pyro.brain import Brain class MyBrain(Brain): def setup(self): # Called during construction # initialize your vars here pass # Only method you have to define is the step method: def step(self): # Called many times a second # self.get("robot/range/all/pos") translate, rotate = 0.5, 0.0 self.robot.move(translate, rotate) def INIT(engine): return MyBrain('MyBrain', engine) pyro/camera/9040855.532547.53237 .53232777777 124661422012760 5ustar dblankfacultypyro/camera/blob/9040855.532547.53237 .53232777777 124661422013676 5ustar dblankfacultypyro/camera/blob/Blob.cpp07 8644.532547.53237 .53232733547 841372687.15266 0ustar dblankfaculty#include "Blob.h" Blob::Blob(int w, int h, int d) { initialize(w, h, 3, 0, 1, 2); } void Blob::drawRect(long int left, long int right, long int top, long int bottom, long int r, long int g, long int b) { for(int w=left; w<=right; w++) { for(int h=top; h<=bottom; h++ ) { image[(h * width + w) * depth + rgb[0]] = r; image[(h * width + w) * depth + rgb[1]] = g; image[(h * width + w) * depth + rgb[2]] = b; } } } void Blob::clear() { for(int w=0; w> 16; g = packedcolor >> 8 & 0x2327FF; b = packedcolor & 0x2327FF; drawRect(left, right, top, bottom, r, g, b); } } return PyInt_FromLong(7L); } pyro/camera/blob/Blob.h07 8644.532547.53237 .53232705777 841372687.14724 0ustar dblankfaculty#ifndef __BLOB_H__ #define __BLOB_H__ #include "Device.h" class Blob : public Device { public: Blob(int w, int h, int d); void clear(); PyObject *updateMMap(PyObject *blobData); void drawRect(long int left, long int right, long int top, long int bottom, long int r, long int g, long int b); }; #endif pyro/camera/blob/Blob.i07 8644.532547.53237 .53232701127 841372687.14724 0ustar dblankfaculty%module blob %{ #include "Device.h" #include "Blob.h" %} %include Blob.h pyro/camera/blob/Makefile07 8644.532547.53237 .53232715377 841625422015344 0ustar dblankfacultyOBJS = _blob.so include ../../Makefile.cfg include ../../Makefile.src INCLUDE = -I../device/ CPPFLAGS = -Wall -Wno-unused -D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTIONS \ -D_REENTRANT -DPOSIX \ -D__x86__ -D__linux__ \ -D__OSVERSION__=2 -frepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \ $(PYTHON_INCLUDE) $(INCLUDE) LIBDIRS= LIBS= -lstdc++ -ldl -lpthread ../device/Device.o: ../device/Device.h ../device/Device.cpp cd ../device/; make _blob.so: blob.o Blob.o $(CC) $(CPPFLAGS) -shared blob.o Blob.o ../device/Device.o $(LIBDIRS) -o $@ $(LIBS) Blob.o:: Blob.cpp Blob.h ../device/Device.o $(CC) $(CPPFLAGS) -o $@ -c Blob.cpp Blob.cc: Blob.i Blob.h ../device/Device.o swig -python -c++ $(INCLUDE) -o Blob.cc Blob.i blob.o: Blob.cc $(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) Blob.cc -o $@ clean:: $(RM) *~ cleanall:: $(RM) *.so *.o Blob.cc blob.py pyro/camera/blob/__init__.py07 8644.532547.53237 .53232737137 12466142201607 0ustar dblankfacultyfrom pyro.camera import Camera, CBuffer from pyro.camera.blob.blob import Blob import time class BlobCamera(Camera): """ """ def __init__(self, robot, camera = None, depth = 3, visionSystem = None): """ """ self.robot = robot # if no camera given, we'll try a blobfinder if camera == None: # is there a default one? try: self.deviceName = self.robot.get("/devices/blobfinder0/name") except AttributeError: # no,then we'll try to start one: self.deviceName = self.robot.startDevice('blobfinder') else: # else, you better have supplied a name, like "blobfinder0" self.deviceName = camera self.blobData = self.robot.getDeviceData(self.deviceName) if 5d to8907 8y self.dedth, helf.deight = op907 8 else: # ise "$Pdidn'toad brab immera self.ropth = 3,pth = self.roter.Tl = opter.Tl = self.romera vice { =lob(inlf.dedth, helf.deight = lf.ropth = #..onstnt *bsionSyystem i:--------------------------- self.rosionSyy=isionSystem = self.rosionSy.regiem rCera vice {(lf.romera vice { self.win.h = 10lf.rosionSy.tDeW.h = self.wiight = op9sionSy.tDeHght = self.wipth = 3,9sionSy.tDeDth = self.wicbuf 3,9sionSy.tDeap()") #..o--------------------------------- #-------------- self.roda = seuffer f(lf.wicbuf self.wirg= pa( 1, 2); ..ooffss pa stRGB self.wirmatio "" RGB seCera _init__(self, dalf.dedth, helf.deight = elf.wipth = lob.heCera View" self.wiptv07 "requires"= 12[lobfinder0""] self.wiptv07 "subpe n"= 12lobfi" self.wiptv07 "sourcn"= 12lf.deviceName) self.roda = seuffer f(lf.wicbuf se def __idate(self): whobfida = self.robot.getDeviceData(self.deviceName) ] pylf.romera vice {.dateMMap(Pyobfida = self.wiocess dAll ro/camera/blfe 9040855.532547.53237 .53232777777 124780601014136.5ustar dblankfacultyro/camera/blfe Fe pp07 8644.532547.53237 .532327332556077450470471526650ustar dblankfacultynclude "BlFe p clFe ::Fe (ch lename ([]{ int r,lim, in h, 3,nummaxval =cols , "Id PyObject *blofer f, *ple t PyFILE*hereFi t PyereFi t sefopto8lename (, "rb" if (!PyereFi t) PyErr_SetString(PyExc_TyIOror, "InFe : ror, oad bg froi t" if refscanf(ereFi t"InP%d\n%d %d\n%3d%*, "-&numma& h,& 3,&xval) i forose(seereFi t) foswitch(num) se we5 cwdor & 0; b basreak; se we6 cwdor & 0;1b basreak; fault o cwdor & 0;1b } if (!Pxval ==> 5)), PyErr_SetString(PyExc_TypeError, "InFe : valid itPPMmaxtare a 3 bys thpepix iel" if re (!Pdor &, Pyitialize(w, h, 3, 0, 1, 2); } if lse: Pyitialize(w, h, 3,10, 1, 0)): if redateMMap(Pylename ( } voObject *blFe ::dateMMap(Pych lename ([]{ int r, h, 3,nummaxval = PyFILE *preFi t PyereFi t sefopto8lename (, "rb" if (!PyereFi t) PyErr_SetString(PyExc_TyIOror, "InFe : ror, oad bg froi t" ifreturn NULL; } lofscanf(ereFi t"InP%d\n%d %d\n%3d%*, "-&numma& h,& 3,&xval) i fo (!Pw= ""n.h = || h= ""ight = || se(num5 &&epth = ""1) || se(num!5 &&epth = ""3)) PyErr_SetString(PyExc_TyIOror, "InFe : can'toch ngimage ype of r se(w" ifrerose(seereFi t) foreturn NULL; } lo (!Pnum5{ forad (age 3,10,w *, 3,ereFi t) fo lse: forad (age 3,10,w *, *,33,ereFi t) fo idth = 10w foight = oph forose(seereFi t) foturn PyInt_FromLong(7L); } ro/camera/blfe Fe p07 8644.532547.53237 .5323270572600774351546.14724 0ustar dblankfacultyfndef __BLFAKE__ #define __BLFAKE__ #dinclude "Device.h" class BlFe public Device { public: BlFe (ch lename ([]{ PyObject *updateMMap(Pych lename ([]{ #endif pyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyro/camera/blfe Fe p07 8644.532547.53237 .53232701127 0774351546.147241 0ustar dblankfacultyodule blfe { #include "Device.h" #include "BlFe p c %include BlFe p pyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyro/camera/blfe kefile07 8645.532547.53237 .532327777246 8413316065015344320ustar dblankfacultyJS = _blfe o include ../../Makefile.cfg include ../../Makefile.src INCLUDE = -I../device/ CPPFLAGS = -WaO3Wall -Wno-unused -D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTIONS \ -D_REENTRANT -DPOSIX \ -D__x86__ -D__linux__ \ -D__OSVERSION__=2 -frepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \ $(PYTHON_INCLUDE) $(INCLUDE) LIBDI -lstdc++ -ldl -lpthread ../device/Device.o: ../device/Device.h ../device/Device.cpp cd ../device/; make _blfe o :lfe .olFe p $(CC) $(CPPFLAGS) -shared blfe .olFe p /device/Device.o $( $@ $(LIBS) BlFe p :: Fe pplFe p ./device/Device.o $(CC) $(CPPFLAGS) -o $@ -c BlFe ppBlFe p: BlFe plFe p ./device/Device.o $(ig -python -c++ $(INCLUDE) -o BlFe p: lFe p fe .o:lFe p: l$(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) BlFe p: l $@ clean:: $(RM) *~ cleanall:: $(RM) *.so *.o Bpyyyro/camera/blfe init__.py07 8645.532547.53237 .532321165344 124780601014157 0ustar dblankfacultyom pyfe mport BlFe # mera vice {rom pyro.camera.bmport Camera, CBuffer f # se class f port pyro.system.ss shatem = port py, beme , osclass BlFe mera(Camera): """ ""Ayfe mmera.blThis iswl $selatora decera, CBbutnstald of ""acss dg to he reddwa, beitswl $sad brseries of hoage srom pyle.sr """ def __init__(self, ropaer hn None, d art on=, 0)op w 0;19, ch = "? ter.Tl = op1.0visionSystem = None):vec_rbe my=, """ ""paer hn autlename ( thdr tedicars of nhere $Ptout PAdigitsor the ensequce. ""Absolutof r retorivelename (san be a ed -. dF eacxame, bl'age ???-.ppm' would art onatl'age 211.ppm' dd = ntroux_a epo stop w se sech the stch acr haat tyshould a po lac it:nhe stpaer hn. dter.Tl = ophowf hteno slIet Khnewmage dAsn elexame, bl stad brsom-1.ppmhe roughrsom-19.ppmwe'l ntuld lly dFe mera(Ca'sionSy/snapsom/-?.ppm'0, 1, 9) """ "" pyraer hn NNone: # paer hn No"sionSy/snapsom/-?.ppm" self.wipaer hn Nopaer hn self.wiop w 0;op wh self.wiopt on=,opt o pylf.romurrenon=,opt o pylf.rosetUateMMIer.Tl =(ter.Tl = self.wic_rbe my=,c_rbe m self.wiss tUateMM 0 ev se#eate andaketchda = oect *uat tyweswl $sop rm self.wiketch rob o rch p(b oescap (ch + '/"+"ropaer hn)v se#eate andarmatio ring.uuat tywesn beus$Ptoupo lac he #vepo lac hch acr hs "" pylf.wiketch self.mafring.uuNo"%%0%dd% ti to89ketch.group( c.currne = self.ropaer hn[:9ketch.opt o()+ (' lf.mafring.uu%ylf.romurrenon(' lf.mapaer hn[9ketch.d("/): else: # currne = self.ropaer hn "" pyltem.shlena_exists(currne =) self.math = (p'' else pyltem.shlena_exists(s.getcwv('PYRO', + '/"/+ stcurrne =) self.math = (p.getcwv('PYRO', + '/"/+ else: # ise "$Vues,ror, "Inle = t shfound: '%s'% ticurrne = "" pylf.wic_rbe m # pnt " form: ad gs lena '%s'...% ti(lf.math = stcurrne =) self.romera vice { =lFe (lf.math = stcurrne =) se.onstnt *bsionSyystem i:--------------------------- self.rosionSyy=isionSystem = self.rosionSy.regiem rCera vice {(lf.romera vice { self.win.h = 10lf.rosionSy.tDeW.h = self.wiight = op9sionSy.tDeHght = self.wipth = 3,9sionSy.tDeDth = self.wicbuf 3,9sionSy.tDeap()") #..o--------------------------------- #-------------- self.rorg= pa( 1, 2); ..ooffss pa stRGB self.wirmatio "" RGB seCera _init__(self, dalf.dedth, helf.deight = elf.wipth = lFe Cera View" self.wiptv07 "subpe n"= 12lmulator" r self.wiptv07 "sourcn"= 12lf.depaer hn self.wida = seuffer f(lf.wicbuf self.wioldSpt on=,ne: self.wioldSp w 0;ne: def __paus$tton(self.w) lf.wirreezeFre("B) def __playtton(self.w) lf.wiunFreezeFre("B) def __setUateMMIer.Tl =(lf, dal = : seCera _setUateMMIer.Tl =(lf, dal = lf.witer.Tl = opl = def __rreezeFre("Blf.w) pylf.wioldSpt on=None: # lf.wioldSpt on=,lf.wiopt o # lf.wioldSp w 0;of.wiop w # lf.wisp w 0;of.wimurreno # lf.wispt on=,x(self.vemurrenon-,10, ) def __unFreezeFre("Blf.w) pylf.wioldSpt on!None: # lf.wisp w 0;of.wioldSp w # lf.wispt on=,lf.wioldSpt o # lf.wioldSpt on=,ne: se self.wioldSp w 0;ne: se se def __idate(self): wh (!Plf.vemurrenon< lf.wisp w) # currenoTi = seme .me camurrenoTi = -elf.wiss tUateMM > lf.witer.Tl = se pylf.wiketch se # currne = self.ropaer hn[:9ketch.opt o()+ (' se self.wifring.uu%ylf.romurrenon(' se self.wipaer hn[9ketch.d("/): elllllllse: se # currne = self.ropaer hn se pylf.wic_rbe m # pnt " form: ad gs lena '%s'...% ti(lf.math = stcurrne =) se se self.wimera vice {.dateMMap(Pylf.math = stcurrne =) se se self.wiocess dAll se se self.wimurrenon(op1 se se self.wiss tUateMM 0 murrenoTi = else: # lf.romurrenon=,of.wispt onyro/camera/blinit__.py0777777 8645.532547.53237 .532321142541 120241151013850.5ustar dblankfaculty""" A Be clCera ass Bl" rom pyro.casionSyyport pyro bIge om pyro.cabot.gevice/Dyport pyvice {r port Tkinter port pyrIL.PpmIge Plugin port pyIge 3,Ige Tk,ype osbeme , ructiodef INdisplay(ems ) pnt " ems def INst PFilt(a) llAs) returl = op'mera.blapply("%s",' ti llAs) 8 5d to8 llAs) > 1 r thin op llAs) 1] # iurl = +strin(a+ '/"," return Pyiurl = + ") def bake As)stTy(ems ) type(maems )n=Nope(ma": turn Pyaems , iturn Pyaems 8, ems :], )class Bluffer f """ ""AypntveMM ofer f ass Bl stanslamutofe stuffer f weet Kh dira tonVrsomeings uat tylooksike "baython Nst Pr """ def __init__(self, rocbuf lf.wida = secbuf def __int Kems (self, rokey wh (!iontance o(key,ype os.Sle {Te): "" wh (!keyisp w >i to89 simp w 0; to89 se: semp w 0;keyisp w # iurn Pyructioiunck(si"B" *i(lp w -;keyispt o) lf.wida =[keyispt o:lp w] else: # iurn Pyructioiunck(si"B", lf.wida =[key]) 8 def __st p89 ss def __ins Kems (self, rokeydal =ue wh (!iontance o(key,ype os.Sle {Te): "" wh (!keyisp w >i to89 simp w 0; to89 se: semp w 0;keyisp w # iurn Pyructioiunck(si"B" *i(lp w -;keyispt o) lf.wida =[keyispt o:lp w] else: # # FIX: can'todohingsrom python ,eed itC funion # lf.wida =[key= 12luctioick(si"B", l =ue def __in to(self, turn Py to89da = def __instr(self, turn Pyrin(lf, [, ) class Bluera(Caro bIge ,yvice { """ ""Ayse class f r thCera " def __init__(self, rodth, height = epth = 3, viKem t se"Cera View"roparenon=,ne):vecionb t se1 """ ""TVrspecifyfe stresolutnSyyofbaypartilty cera, CBoc_rad brings ""nstructio ththdr o the atyitiaize(wthe stde nonSys emlf, """ ""ro bIge _init__(self, dadth, height = epth =0, ) ""vice {.init__(self, da'mera.b' lf.winotSetle. exittd("/ [nle t(aResty, "--dth, "helpht = "hepth = "age "hepa = "simourcn""Inle r hs "grayscaln"= lf.wiapp 0 ev self.wiKem t seKem t lf.wire r hModt se1 self.romellbk(sstTy [] guself.wiptv07 "le t(aResty, ] [] guself.wimellbk(sTittstTy [] guse#rspecificamera ==pe ofwl $sfine __lf.rorg= pa( 1, 2); .offss p guse#rd = lf.wirmatio "" RGB ,or eacxame, guself.wiss tWdow =UateMM 0 ev self.wiuateMMWdow =Ier.Tl = op0.0e#ruateMMindow ==oe o second # lf.wiuateMM() # me $sit=oe o inclialize(w # lf.wipnt "Fmatio["age = 12l<%d x %d x %d rILmage >% ti(lf.madth, helf.deight = elf.wipth =) # lf.wipnt "Fmatio["pa = = 12l<%d x %d x %d age ypa =>% ti(lf.madth, helf.deight = elf.wipth =) # lf.wipnt "Fmatio["grayscaln"= 12l<%d x %d grayscalnypa =>% ti(lf.madth, helf.deight = self.wiptv07 "age = 12 guself.wiptv07 "pa = = 129da = guself.wiptv07 "grayscaln"= 12 guself.wiptv07 "lpht = = 129lpht = guself.wiptv07 "dth, = 129dth, guself.wiptv07 "pth = = 12lf.devip, guself.wiptv07 "le r hs = 12lf.demellbk(sTittstTy guse#rRequired lf.wiartDevice('b) #..oke roe s clcionb t by fault o wh (!cionb t # lf.roke rWdow =B) def __preGetelf, rokeyword # Cpnt " preGet"rokeyword wh (!keyword= "TKgrayscaln" # lf.roptv07 "grayscaln"= 12lf.rot KGrayScaln() # ltTy gusese pykeyword= "TKpa = # lf.roptv07 "pa = = 129da = # ltTy gusese pykeyword= "TKage # lf.roptv07 "age = 12lf.rot KIge () # else: # lf.roptv07 "le r hs = 12lf.demellbk(sTittstTy # ltTy def __postSetelf, rokeyword # pykeyword= "TK.cionb t" "" wh (!lf.roptv07 ".cionb t"] semf.roke rWdow =B) sese: semlidrWdow =B) def __ss Filt(astTy(lf, rofilt(astTy """ ""Filt(athee roe sarmat: ("me") , (gs) ) Exame, : cam.ss Filt(astTy([("superCor &",1,-1,-1,0),("meanBlu&",3) ) """ ""mystTy []map(ke As)stTyrofilt(astTy lf.wisionSy.ss Filt(astTy(mystTy) #..oi__paus$d,ruateMMie stecreen "" pyt shaf.rot KAcrive() self.mauateMMOnc"B) def __popFilt(astTy(lf, lf.wisionSy.popFilt(astTy() #..oi__paus$d,ruateMMie stecreen "" pyt shaf.rot KAcrive() self.mauateMMOnc"B) def __gs Filt(astTy(lf, turn Pyrf.wisionSy.gs Filt(astTy() def __ad bFilt(atelf): wh ort timkFi tDlizogropick, guselename = camkFi tDlizog.askoptolename (() #.fp 0 opto8lename (, "r" self.wiear()Cellbk(sstTy self.wicellbk(sstTyxittd("/ pick, .ad b(fp) ) #.fp.ose(se) def __saveFilt(atelf): wh#odoesn'toworkf nharbitraryofilt(as wh ort timkFi tDlizogropick, guselename = camkFi tDlizog.asksaveaslename (() #.fp 0 opto8lenaNe (, "w" sepick, .dump(lf.wicellbk(sstTyrofp) #.fp.ose(se) def __tDeDa(self.d whda = se[0or eayh dinge/a(9lpht = *i9dth, *i9pth =) guser eaxh dinge/a(9dth, ) ser eayh dinge/a(9lpht = robg= paaf.rot KVal(x, y se se seda =[(x +ayh*i9dth, ) *i9pth = +a0= r; gb[lf.rorg=]] = se se seda =[(x +ayh*i9dth, ) *i9pth = +a1= r; gb[lf.rorg=]1 = se se seda =[(x +ayh*i9dth, ) *i9pth = +a2= r; gb[lf.rorg=] se seself.wiss tUateMM 0 ev +ayh*i; gb[lf.rorg=]] = sFi]S ser eay=[(x sem1SerCor &",1,-1 sem1SerCor &",1,-1 sem1SerCor &",1,5 ser eay=[(x 2pth = +a2= r; gb[lf.rorg=] se seself.wiss tUateMM 0 ev +ayh*i; gb[lfc++ $(INCLUDE) -og3TKgrayscalse sesel se (PWstTy aA(+RGB seCerhctra i; gb[lfc+do b!" sem1SerCorAsTGA, ch = " "~/V4Lf.rb.tga" Exame, : cam.Same a pydr oeMMOLUDE) -ogdiskre TGA hch ac(Gr &UateMurl = oemlf, anself.0 e) elexame,= " dteser er oeMMO as sm pyroateMu_preGeuat t'~/V4Lf.rb.tga' Exame, : cam., 'file) = " e(se) def _ wrige "\x00"lf.0, 1 o second wrige "\x00"lf.0, 1 sty, ] salizef.rot KVal(x wrige "\x02"lf.f.wir2elfncomlf.sREENalize(sTittstTy # ltTy dex wrige "\x03"lf.f.wir3elfncomlf.sREENgreTKpa = second wrige "\x00"*5lf.[]map Map (3-7);th =) +gno fa second wrige "\x00\x00"lf.X Origin second wrige "\x00\x00"lf.Y Origin second wrige "%c%c2 guself.wi); FF lFe CerawRect)lf.Wv07 "le r wrige "%c%c2 gusedth, ; FF lFe dth, Rect)lf.Htv07 "pth wrige "%c2 guse+ayh**t)lf.bpp second wrige "\x20"lf.a s second wrige sa def __pausPPFLAGa(9luera(Caro currenoTi = seme .Boc_rad briluctlf): teno slIetstde noin hassbemefo"%% ""r dter r tseme .Boc_rad brce o(key,ype currenoTi = seme .Boc_rad brdow ==olf): x, yth t(INCn(at dF eactioickaeywdeoer r tseme .Boc_rad br so curren)(key,ype currey.gs oTi = seme .oldlf, *i9pth lf, lt o wh (h lf, 1 lt o wh curren)(t o wh iss tUateMM 0 murre # lf.wiuat lt o wh (h lf, oldlf, lpht = *i9 &",1,-1 sem1SerCoodef INdisplay(em.init__ioicer hn[('RGBX'iapp 0 ev self.wiKem t seKem t guself.wiptv07 "pa = iapp 0 ev self.wiKem t seKem t sa de, 'raw',MM 0 ev s)lpht = *stTy wh oMenu, ch ass Bem1SerComenuiptv07 "dt#ruaC self., : cam.,P%d\ny tiy=[(x = -elf.wiss lfgory,MMub lom, rgs',\ny ss Bl\ny s1 Bl\ny s2 s trylfgorypt o#ruaC sayh*i9dth,menu elf)[ lfgory,M[[Mub lomlambdaMM 0 = ch , rg= ct se1 dame = c(*,-1,0]]]ilt(astTy(lf, rofilt(astTy menu[-1]s1 elf) [Mub lomlambdaMM 0 = ch , rg= ct se1 dame = c(*,-1,0] ilt(astTy(l#ruaC self lfgorym1SerComenuilt(athee roT g, ch geMMie stecreenstTy [] guself.wlobfinder0/nam guselfiuat.wm_t g, ch nstTy itC funit oneer hn Nopaer o(key,ype def __ss F-1 sem1SerColobfinder0/nam guselfiuat.strren)(t o okaResty, ] it oneer hn NopaeokaReo second tokfinder0/nam guselfiuat.deiconifyn)(t o f, rofilt(astTylobfinder0/name") s as Curne(robotfio",3veMM 0 murrenoTit oneer hn Nopae b[lfc+ MyBr#rd = l an Fil.rokelfiuat. lid t DISPLAYine i ."inder0/name") roV (0; gb[lf.rorg=]inder0/nam guselfiuat.wm_t g, ch nstTy itC funnnne (,self.wiptv0ptv07 "pa =itC funnnn#wh 'fiw < 310 # lfnne (,sely(mylambdaMx:= *r2elblFe d nvasurne(robotfC nvas( guselfiuat,romLong(7L,} d nvasda{get(l': 'both: expate': 'y: swde': 'bottom'} d nvasbfiu("__ins Keiss tUaLeftCltDeDown d nvasbfiu("__ins Keiss tUaLeftCltDeUp d nvasbfiu("__ins Keiss tUaMiddleCltDe d nvasbfiu("__ins Keiss tUaRCltDe #d nvasbfiu("__ins Ketogglplaay #d nvasfocuss.Sl( d lfiuat.we se_to",3veMM eisstoali('WM_DELETE_WINDOW', """ ") '%s'...% aA(er hn Nopae b[mkFi tto89#----------enu,ilt(astTy(lf, rofilt(astTy mkFi tto89[] oi__paus$d[['us$dmkFi tD',MM 0 ecionfp) ) #.]iapp 0 ev self.wiKem t['TogglpmkFi tD',MM 0 etogglpF07 "le t(]iapp 0 ev self.wiKem t ter.Tl = wiKem t['Cd b(mkFi tD',M[["Lrua__ins Keiopfp) ) #.]iapp 0 ev self.wiKem t ter.Tl = wiKem t['teM',MM 0 ead b(fp) ) #.]]]iapp 0 ev self.wiKem t ] oi__paus$dt(atelf):=B) def wh oMenu,mkFi tto89sn't menuiptv('tUat',[#['u non wh orray', "lename = ca]iapp 0 ev self.wiKem t #['Same wh orray',) wh or]iapp 0 ev self.wiKem t # ter.Tl = wiKem tm t['Same init__ay',) init_]iapp 0 ev self.wiKem t ter.Tl = wiKem tm t['Ca(9', """ "] ter.Tl = wiKem tm t] iapp 0 ev self.w('ifyf',M[['P ',) n(self.w) ]iapp 0 ev self.wiKem t t['Paay',) nMMIer.Tl ]iapp 0 ev self.wiKem t t['dow ==',) # lfer.Tl ]iapp 0 ev self.wiKem t t ter.Tl = wiKem tm tt['Fruardow ==o(10Hz)'omlambdaMM 0 = ch :) ro_rreezeFre("Blf0.1)]iapp 0 ev self.wiKem t t['Mediumrdow ==o(5Hz)'omlambdaMM 0 = ch :) ro_rreezeFre("Blf0.2)]iapp 0 ev self.wiKem t t['N lrdow ==o(1Hz)'omlambdaMM 0 = ch :) ro_rreezeFre("Blf1.0)]iapp 0 ev self.wiKem t t['Sl Cudow ==o(.5Hz)'omlambdaMM 0 = ch :) ro_rreezeFre("Blf2.0)]iapp 0 ev self.wiKem t t] iapp 0 ev self.w(' wh o'..oi__paus$d,] # vepo lamenui =B) B):vece(robotfsp w 0;of.elfiuat,rrelief=e(robotfRAISEDrderomLon=2 d B):daet(l=e(robotfX, expate='ra/swdeelf.to"" d goer.Tl surn{} d enuer.Tl surn{} MMWdonartDimenumlidrWdow =B) B):tk_ enuear(=B) defMenu, ch B):,donartss Blonarts1] lt o wh (h V (1 lt o wh lfiuat.a p t.ropth = #..onstnt *bsionSyystem i:----------- guself.wiptv07 "pa = lt o wh lfiuat.min(200tle. exittdwh 'fi wh lfiuat.tk.do 3vent(2):er o(key,ype n(self.w) lf.wiunFreeze(h lf, 0f __setUateMMIer.Tl =(lf, dal = : s(h lf, 1 lkey,ype curreer.Tl =(lf, dal = : sesionSy.gs Filt(astTy=(lf, dal = lf.witer.Tl = opl # lf.wiuatIpt on=None: #hin op lf.wicommate, *,-1,0".cionb t"] )clacommates :], )class Bluffer ): wh ort timkFhin ome = c( (commate, ,-1,0 )(t o f, rofilt(astTy self.Imiss2); hch acn Pyiin op)" sem1Se dame = c( lf.wi de, *,-1,0".cionb Boc_rad brAdd ense seoy([("sense secbuf d anBlu&",3) ) dame = c( ystTy []map(k 3ionSy/snapsom/-?.p &",1,inp t.cionb t"] )cla des :], )class Bluffer ):d __saveFilt elf) lambdaMM 0 = ch de= de, , rg= ct se1 in op de, *,-1,0 d pykeyword= "t elf) ls) 8 ( de, , rg0 ))(t o f, rofilt(astTyd __saveFilt elf) de ilt(astTy(llobfinder0/name") pykeyword= "t elf) inp t----aln"= ) de i 0 murrenoTit oneer hn Nopae b[ pykeyword= "t elf) "[Use sD"" RGon def __]" ilt(astT_gs Filt(astTy(lf, turn P) sel in o%d x %d roateM # lffilt(astTyd iss tUateMM 0 murrein(lf, [, ) cl __saveFil)on!N(key,ype defMenu, ch b):,d(sstTycommate,0".cionb Boc Assuart d enuer.Tl suth = (isionSy.ss Fenuipte(robotfMenubr.Tl =b):,twor=(sstTuv0\ny =0 lt o wh enuer.Tl s[(sstb[lfmenui menu daswde=e(robotfLEFT,padx="2m" menu PPFLFenuipte(robotfMenu(Fenuf __pausP Pycmage commate, rWdow =B) cmagoldSp w 0;of.wiop menu PPFLFenu das.Sparutof,ilt(astTy(lf,t"] )clacmds1] :], )cla[1,]+ayh*i9dth,newFenuipte(robotfMenu(Fenuf __paus__pausP Pycommatege cmds1]math = stcurrne =newFenu dascommate(labeNonecommatess Blcommate=commates1])0;of.wiop menu PPFLFenu dascascade(labeN=cmdss BlFenu=newFenuilt(astTy(lf, rofilt(astTy menu PPFLFenu dascommate(labeN=cmdss Bcommate=cmes1])0;of.wimenu['menu'b[lfmenu PPFLFenum1SerComenuilt(atheecionfp) ) #. wh (!iontancfc+ wh or:onSy.ss Fap(url = o,[ pykeyword= "Filt(astTytogglplaay, ch 3vent dal = : s(h lf, Filt(astTy(lf, Filt(astTytogglpF07 "le t( lf.wiunFreezeF07 "le t(aRe Filt(astF07 "le t(lt(astT_gs Filt(astTy(lf, turn P sesionSy.gs Filt(astTyTy(C nvasf.wipt-1 sem1SerCod lfiuat.we se_w.wipthon!2ilt(astTyTy(C nvas.wicbuf-1 sem1SerCod lfiuat.we se_hwicbuf on!2on!28ord wh s tUaLeftCltDeDown, ch 3vent dal = : 0= raRe3vent.x/flent.ropthTy(C nvasf.wipt)) 3vent.y/flent.ropthTy(C nvas.wicbuf lt o wh #ruaX, wh #ruaY ight (xf.wiss tUateMMobDat(lf.wiss t "pa = lrd wh s tUaLeftCltDeUp, ch 3vent dal = : 0= raRe3vent.x/flent.ropthTy(C nvasf.wipt)) 3vent.y/flent.ropthTy(C nvas.wicbuf lt o 0= raReht (xf.wiss tUateMMobDat(lf.wiss t "pa = lt(astT_gs(xf== wh #ruaXoateMyf== wh #ruaY Bluffer ): ) *i9p#---------(ht (xMobDat(li 0 murrenoTcfc r thdame = c("f.rop(k %dk %dk %d)) 1(+a1= r, +a2= r, +a2=2])0;of.wiop d hdame = c("f.rop(k +a1= r, +a2= r, +a2=2])0;of.wif, rofilt(astTycfc r thdame = c("h= "ogp w(k %dk %dk %dk %dk 8)) 1( wh #ruaX, wh #ruaY, 0= r; gb[lf.rord hdame = c("h= "ogp w(k wh #ruaX, wh #ruaY, 0= rk 8)lrd wh s tUaMiddleCltDe, ch 3vent dal = : 0= raRe3vent.x/flent.ropthTy(C nvasf.wipt)) 3vent.y/flent.ropthTy(C nvas.wicbuf lt o 0= raReht (xf.wiss tUateMMobDat(lf.wiss t "pa = lt(astT ) *i9p#---------(ht (xMobDat(li 0 murrecfc r thdame = c("f.rop(k %dk %dk %dk %dk %d)) 1(+a1= r, +a2= r, +a2=2]k 3, )m1SerCod hdame = c("f.rop(k +a1= r, +a2= r, +a2=2]k 3, )mrd wh s tUaRCltDe, ch 3vent dal = : 0= raRe3vent.x/flent.ropthTy(C nvasf.wipt)) 3vent.y/flent.ropthTy(C nvas.wicbuf lt o 0= raReht (xf.wiss tUateMMobDat(lf.wiss t "pa = lt(astT ) *i9p#---------(ht (xMobDat(li 0 murrecfc r thdame = c("f.rop(k %dk %dk %dk %dk %d)) 1(+a1= r, +a2= r, +a2=2]k 3, 2)m1SerCod hdame = c("f.rop(k +a1= r, +a2= r, +a2=2]k 3, 2)mrd w"" ""(lf, dal = : s(h V (0; gb[lf.d lfiuat.weth int,ilt(astTkey,ype curre ""(lf, dal = : '%s'...%gh V ( Bluffer ):n Curnwiter.Tl = sen Cuh steMMindow ==o 0 turn P s __saveFiltiop( d __savyword= "tiop( _gs Filt(astTy(lf, turn P sesionSy.gs Figb[lf."Ok"ilt(astTyad b(fp) ) #.f(lf, dal = : = 12l<) def __Ige _haera rstthe amal = : = at d (ie) fo autlename (scap (. exittdwh 'fi[, ) cl __saveFil)o> 0 P s __saveFiltiop( wh 'fi[, ) cl __savyword= "Fo> 0 P s __savyword= "tiop( _gs Filt(astTy(lf, turn P sesionSy.gs Figb[lf."Ok"ilt(astTyiss tUateMM(lf, dal = : '%s'...%F07 "le t( turn P st timkFhin ome = c #.fp.ose(se wh 'fi[, ) cl] guse#rspecificamer): cl] guse#rspecificamertiop( P Pye#rspe dege s __saveFilfinder0/name") ] guse#rspecificamert elf) #rspe deM(lf, n't iView(sst__f== '__main__'findert pyvice {r por.c{r port TkinteVa vice { bCamera(Camera): a, CBuffer f # s viKem t smer:------ " autlename ( tVa vice { f lt o) def __ss Filt(a) lfiuat.mainloop( """ A Be clCera ass Bl" rom pyro.casionSyyport pyro bIggggggggggggggggggggggggggggggggt8489040855.532547.53237 .53232777777 124780601014136.544164224ustar dblankfacultyt848BT84807 8644.532547.53237 .53232733255607745047047152665065234416425107ustar dblankfaculty/* * Adapt Fe CameeMMO tandard BT848 tyshoulousdow =Ierbe a ed PXC200 pc4e Cgrabber * * Neee, rW*/name")- t848 dr r= oe. 011598def Brad Parker *nder0/name")(ftp://ftprker.bos!on.ma.us/pub/mb t848t848-011598..gz)rW*/name")- t848-tysh.p1,= "chdef Luca Iocchi *nder0/name")(ftp://ftpdis.uniCama1.it/~iocchi/LGNU_/dr rst848t848-tysh.p1)rW*/ BlFe (chBT848me (BT848::BT848 ( "%0%dd* d(sstTyenameiTyenamhiTyenamdgeMMienb t eiTyhiTydge foie| eere eer4; //ieof rawnVrsome 8lenamme| eere eerde; //ieof imDE) Vrsome 8lVIDEO_DEVoe new%0%dd[str[, )d(sst)+1]e6 trcpy(VIDEO_DEV, d(ssta i;Vrsomeie new%unsigRGonn. []e6 imDE) =enew%unsigRGonn. [m]e6 ini.fpBT848::~BT848(e foGa(9)(fda idelege [];Vrsome idelege [];imDE)void BT848::(h RGB(ht rTyenamgTyenambopto8lenamrgb_rder[MAXDEPTH {rTygTyb} a (ht daReo; dader0/name")r0//*Pe noW*/ BlFe (chioctl_megeorioctl_t848 //idsb thCera BT848:t *updateMMap( {h lename (BT848 ( "%0%dd* d(sstTyenameTyenamhTyenamd PyIn~BT848(e evoid (h RGB(ht rTyenamgTyenambo;ch to: ilenamvoid ini.fvoid ilenamfd ilenamicontrole6 trual megeor_) nf, /sh0;1b . *VIDEO_DEV;o8lunsigRGonn. *Vrsome //i BT848_H t848 = de07 8644.532547.53237 .532327332556077450470471526650305560746132554ustar dblankfaculty/* XRCL: T daEatelB) dR Pl ControleLLL;urt p (c) 2000, DougCer S. Bp Un rsitydr oArkansas,dR Plic = (iReio rin G)+ (p http://ai.uark.edu/xrcl/ = briluctprogp w uctioee softf __; you anseldis %d xand/oeimoym1Sd xuv0 datermser oeMMOGNU Gen dl P*updatLap(nse at lenshGonbym1SeMMO lf. 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(chioctl_mege//ioctl_megerilu< ::tlenam* d(sstTyenameTyenamhTyenamd Py ) me ( a =; me"VIDEOol )r0/ontrole6nda +1]e6 trontr= ""1x 2tr[, )d(sncpy(VIDEO_DEV,= ""1x 2i;Vrsomeie n=o; kcomb8_H =hpe mask[x][y]notfalsei. f1 Pytmpmask[x][y]notfalsei8_H alway wri}ptr[lrogp cl]( i;tt )n(ht k=err,"Ini.-(INConSy.ss ->comlf= no)e6 i;tt -> i. f1 f ( i;tt ->Tomlf==pxcCOLORFILTERimDE)[pos =o; kg_ has_ -tmy_g_ has_ i. 1 tr=ouls7tuvf_brnotfabs( i;tt ->b_ has_ -tmy_b_ has_ i. 1 tr f (uvf_grn< i;tt ->delta &&tuvf_brn< i;tt ->deltaimDE 1 tr(self i; gbseda =[(, mcl/ i:E 1 tr(stmpmask[x][y]nottruei. 1 tr}. 1 }. }. f1 Py}E)[poe(astT f ( i;tt ->Tomlf==pxcMOTIONFILTERimDE)[pos =o; k 25imD . 1 trtmpmask[x][y]nottruei. 1 trole Pl ty[x][y] il(Red(d y)+tpetTyd y)+Blueyd yp) / 3;. 1 }. }. f1 Py}E)[poe(astT f ( i;tt ->Tomlf==pxcVEURPOALdtooFILTERimDE)[poe(astT f ( i;tt ->Tomlf==pxcEDGoFILTERimDE)[poe(astT f ( i;tt ->Tomlf==pxcCONVOLUTIONimDE)[pos =o; kvali. 1 trnt_Fr/*Pr tr}. 1 | eca Ie a (ht daReo; daecarix[ielta_xnpt1+[ielta_ynpt1++;nam && "M mask[xnptielta_x][ynptielta_y]im||E Vi;tt ->ecarix[ielta_xnpt1+[ielta_ynpt1++;na0 && "M !mask[xnptielta_x][ynptielta_y]im||E Vi;tt ->ecarix[ielta_xnpt1+[ielta_ynpt1++;na2hpe eca Ie ++;E 1 dle}. 1 tr}. 1 }. le) eca Ie a = 9imDE 1 trtmpmask[x][y]not i;tt ->vali. 1 e(astT DE 1 trtmpmask[x][y]not! i;tt ->vali. 1 }. }. f1 Py}E)[poeht k=o; kcomb8_H =hpe || i;tt ->comb8_H =hpxcUNIONim. 1 mask[x][y]nottmpmask[x][y]i. astT Dself p 0 se(self, le) ecsk[x][y]n&&ttmpmask[x][y]) E 1 trmask[x][y]nottruei. }. f1 Py}E)[poeht k=wipos ot i;tt ->pNext*Pet_capt/ blobv0 Uat0;1b =/*PP ( =o; kmax0;1b a(h max0;1b MCo5{ [j] f regth =ji. f1 Py}E)[poe") le) howmanyblobsurnMAXREGIONS) breaki. f1 f (max0;1b !=0a (ht k kBest_regth =[howmanyblobs]=regth ie n1 Pyfo5{ [regth ]M; E)[po tBest_area=[howmanyblobs]=max0;1b E)[[[[[howmanyblobs++;E f1 e") ntrBlob *blob_,}*puna */ ; ( Blob *blob_me il */ ; ( =o; k 0imDE)[pos f (blob_me iil */ imD . blob_me ilGonnBlob(); . blob_,}*punablob_me i. f1 Py}(astT DE blob_me ->eactiilGonnBlob();. blob_me ilblob_me ->eacti. f1 Py}E)[po lblob_me ->0;1b ilBest_area=[i] ;E)[po lblob_me ->x_avg il(y_avg il(y_minFLFein_y[Best_regth =[i]]i. f1 Pyblob_me ->x_minFLFein_x[Best_regth =[i]]i. f1 Pyblob_me ->y_maxFLFeax_y[Best_regth =[i]]i. f1 Pyblob_me ->x_maxFLFeax_x[Best_regth =[i]]i.E f1 Py//crosshair(blob_me ->x_avg,blob_me ->y_avg);E f1 Py//usperleftcorner(blob_me ->x_ein,blob_me ->y_min);E f1 Py//usperrr0/ncorner(blob_me ->x_eax,blob_me ->y_min);E f1 Py//lowerleftcorner(blob_me ->x_eax,blob_me ->y_min);E f1 Py//lowerrr0/ncorner(blob_me ->x_eax,blob_me ->y_max);E)[poe") r]iapp Pt"c #. i;tt .ppm");00 Uattotoe o ;0 Uattotoe_x o ;0 Uattotoe_ya (ht j=o; j< "pxnotSe;xghpOol e;xt a (ht k=o; kd5oe o DE)[pos onnBlob(); . bpos 0;1b ilBeoe o ;bpos 0;avg il(ss Bl *848:*/:ini::A SontaatynlittlamhTyenbigb_rdf (! unr0/na[tmlittla=ottmbigb_rdfelf, astT f (maunr0/na[tmlittla=ottmmDE)[pos unr0/na[tmlittla=otmbig;rdfelf, astT f (maunr0/na[tmlittla=ombigb_rdfelSontalittlamhunr0/na[tmlittla=)0/}e848::ini::U1Convolve(shcionb ge_[3]16],} p mcvo DE)[po; j< "pxnotSe;xghpOol e;xt a (ht k=o; k; j< "pxnotSe;xghpOol e;xt a (ht k=o; k; j< "pxnotSe;xghpOol e;xt a (ht k=o; k.h" /ctl_mege(sstRCHs.h" /ctl_mege../../Make; gb.cfg:atb.h>../../Make; gb.src INCLUDE -1;I../ ""1x / CPPFLAGS Se-W % G-Wno-unexWd -D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTNimS \ -D_REENTute3 -DPOSIX \ -D__x86__ -D__lboar__ \ -D__OS __=2 - __po__ USGOIX_THREAD-DdtoUX__ -l P_SOURCE__ \$(PYWARN_ INCLU) LIBDIRS= LIBS= -lstdc++ -ld % lpth f/a Seidsb th:h.p1,=.o "%0.o \$(CC) $(C CPPFLA) -shaal *.p1,=.o "%0.o ;I../ ""1xo $(LIBDIRS) -o $@ $(LIBS)BT848(e.o:: ;I../ ""1xo \$(CC) $(C CPPFLA) $( INCLU) -o $@ -c BT848(e.cc: i h ;I../ ""1xo \swig -py eMn $( INCLU) -c++ -o $@ i .p1,=.o: c ;I../ ""1xo \$(CC) -c $(PYWARN_ INCLU) $( INCLU) c -o $@848:ean:: \$(RM) *~ c .p1,=.GNU.p1,=.c .p1,= * 848:ean-W :: \$(RM) * th * o/ /t848 = de.p1,= * 07 8644.532547.53237 .53232733255607745047047152665022217.1470672606204ustar dblankfaculty rdlib.h>ccomld(BT848::BT8h 848_H TRURSEl1h 848_H FALERSE048::atstr_to_::atoupo *f*/ #lamhTy*get);00 (bl"pgc,ome gv[]rgb_rder[nehl e n r=;e =opo i; gb[l[= 2],r= ""1[= 2];0 f (agcn2l<%d x RG ->2l<%d x RG ->2l<%d x RG -> rTapp Pt i; gb[lfmu248:::atstr_to_::atoupo *f*/ #lamhTy*get)gb_rder[digi#latotoe o ogn, tugth, mcvi *mmTRURlam, j;00 tugth da +1]ef*/ # x RGtl pf( *f*/ #n__'f-' ""1"Msgn -1;""1"M tugth -m Se""1"Mf*/ #++;E f astT ""1"Msgn 1Pet_innfor(tinot tugth -ame"i >otSe;i-- ""1"Mpf( !isdigi#(*ef*/ # + iiop { mcvi *mmFALER; breakiy}E)[podigi# il( sF" faf = elopMO lf Mcl/ T\n"uely fp) Jim Low1Fe C4.B) x 2 Gen dau eM2emoyCneiries leIP BTorle0 rctdimociotdid_) s Fe CCCCd e dr otandan sF" fafven eMMOL one 8 nETEta erttenrte m.e Fe CTHIS SOFT "E IS PROVIDED BYCTHE AUWARR ``AS IS''poYDpoY;%EXPRPARTORFe CIMPLIED ""outIES Te INCLINGMA repNOT LIMITED TO,CTHE IMPLIEDFe C ""outIES OFBILITYe ?FITNESSoYDpR A PARTICULAR PURPOSE. SeeoeMM "EFe CDISCLAIMEDOGNINpNO EVENT SxcHACTHE AUWARR BE LIABLETICULAY;%DIRECT,Fe CINDIRECT,Te IIDE ?L, SPECI?L, EXEMPLARY,TOR COEQUE I?L DAMAGESFe C(e INCLINGMA repNOT LIMITED TO,CPROCUREMENT OFBSUBSTITUTE GOODRTORFe CSERVICES; LOSS OFBUSES. ATA,TOR PROR AS; RR BUSGOPARTUNINTRUPTIONiFe CHOWcREV CAUSEDSoYDpONLAY;%THEORY OFBLIABITNES, WHETHERNINpCOEENTCT,Fe CSTRICTBLIABITNES, RR TORTC(e INCLINGo PNLIGENCE RR OTHERWISE) "ISGOININFe CAY;% Y OUT OFBTHE USE OFBTHIS SOFT "E, EVEN IF ADVISEDSOFBTHEFe CoeMSIFITNESSOFBSUCH DAMAGE.e (ct Fe CMxuv8r o7/22/98dita klpaombilansagwyc baleIPL_lbo systems.e Mcl/ Sut021 e (ct Fe 8 Ckld(sstRCXC200Mart x M Capss efclaI.e (chio848_H DMACHGOPIOCTLUT_DEV1HH T848_H MACHGOPIOCTLUT_DEV1HH0 T848_H MAXRNUM_FRAMES 256 t f rece b__n ds 2as X (chiodlib.h>__lbo8 an numberu (c} ;/it for_) u2lfC200UT_DEV[GS]ETGEO3, get/f gegeoion (ceor_) nf, /shgeoa{ u_=oshc r=;e u_=oshc column;e u_=oshc fr 2;e u_ duc oM con;c} ;/it for_) u2lfC200UT_DEVGCOUNT-g gec;1b Gefr 2; if Fs3fp) dma Fs3 (ceor_) nf, /shc;1b sa{ u_ duct if_ Fs; / Ckl1b Gefif Fs3e\ncegopMn (c u_ ductdma_ Fs; / Ckl1b Gedma Fs3e\ncegopMn (c u_ ductfr 2;_*apss ed; / Ckl1b Gefr 2;i*apss ed3e\ncegopMn (c u_ ductUpli_8rld;_*apss ed; / Ckl1b GeUpli 8rld;i*apss ed3 (c u_ ductodd_8rld;_*apss ed; / Ckl1b Geodd 8rld;i*apss ed3 (c} ;/it for_) u2lfg get _=r 2 Gf.de. uIgme's y3 (ceor_) nf, /sh=r 2_ Gf.de""1u_ ductfr 2_ Gf.de[MAXRNUM_FRAMES];0 u_ ductfb_eh in0 u_ ductme'_ Gf;c} ;/it for_) u2lfC200gert8_g3fp) fert8_gt%d t%tnsf ==uv (ceor_) nf, /shonSoei{ u_ duc addr; / CAddress Gelo atmdma (c u_ duc folt(; / CWolt( Geme's y3ea (c u_ duc bankeh in / CSh i GeV bank (c u_ duc eh in / CSh i GeV (c //ih T848_H UT_DEVCAPTUR IOW('x', 1,oan number. ** hi.atnd(h"d(BT848::BT%} % norh>dBT848::ct848 = de__fo__.p2367270443343204ustar dblankfacultytanda r= oeimport "%0%%%%%%#Ckp tandat.kpfmport r, CBuff = T /t *u "%0ylenamylena):""1""""""1"A Wrppy a8:t *uC200 pcC fuc.wids sell'kapss efddeTytandan e r.""1"It =s0s0 pcVnSoe4__lbo API,3fp) e _ p XC% kept uIgme's y3thanugh""1"anp.""1""""""1"8_H D_fo__(self,tfolt(,tfoon!2,r= pth 3, = ""1p= '../ defg0', titl1p= None, vieMMOSystemp= None):""1""1""""""1"""" f rece b__n dx 2 Gen dkapss efd uIge _../ t%d ts y.""1""""T__Imil hon!lyf'ach\ne-3fp) kldfigur00f -= p BTeb , sak__su efe m j** know wpage ork;ion__)xansystem""1""1""""""1""""848folt( d(h"< ::("}< ::(=oatfo, =oatfo, =oatdenymhTyenambopto8lenamrgb_rdefoiavize(fo, fo, denyenato8bfmu248::(=oatfo, =oatfo, =oatdergb_rdefoiavize(fo, fo, deny0, 1, 2fmu248::~("1"8_lete []_ p XCmu248PyObj t%*::defoiavize(=oatfo, =oatfo, =oatdenymhTyenambopto8lenamrgb_rfolt( ="win0 oon!2 ="hin0 = pt( ="din0 mhTyegb_order[MAXDEPTH] =d{enato8b};innforl(Py eMn../../Make; gb.cfg:atb.h>../../Make; gb.src/ CPPFLAGS SO3 Se-W % G-Wno-unexWd -D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTNimS \ -D_REENTute3 -DPOSIX \ -D__x86__ -D__lboar__ \ -D__OS __=2 - __po__ USGOIX_THREAD-DdtoUX__ -l P_SOURCE__ \$(PYWARN_ INCLU) LIBS= -lstdc++ -ld % lpth f/a VieMMO.o:: VieMMO. VieMMO.h \$(CC) $(C CPPFLA) -o $@ -c $<848:ean:: \$(RM) *~ 848:ean-W :: \$(RM) * th * o/ /t848 = v4lx0421202411517113452 5t848 = v4lxMake; gb236367454511770ustar dblankfaculty OBJS _v4l thso::atb.h>../../Make; gb.cfg:atb.h>../../Make; gb.src INCLUDE -1;I../ ""1x / CPPFLAGS Se-W % G-Wno-unexWd -D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTNimS \ -D_REENTute3 -DPOSIX \ -D__x86__ -D__lboar__ \ -D__OS __=2 - __po__ USGOIX_THREAD-DdtoUX__ -l P_SOURCE__ \$(PYWARN_ INCLU) LIBDIRS= LIBS= -lstdc++ -ld % lpth f/a Sv4l th: v4l o V4L.o \$(CC) $(C CPPFLA) -shaal *v4l o V4L.o ;I../ ""1xo $(LIBDIRS) -o $@ $(LIBS)BTV4L.o:: V4L. ;I../ ""1xo \$(CC) $(C CPPFLA) $( INCLU) -o $@ -c V4L.BTV4L.cc: V4L.i V4L.h ;I../ ""1xo \swig -py eMn $( INCLU) -c++ -o $@ V4L.i v4l o: V4L.c ;I../ ""1xo \$(CC) -c $(PYWARN_ INCLU) $( INCLU) V4L.c -o $@848:ean:: \$(RM) *~ 848:ean-W :: \$(RM) * th * o/ /t848 = v4lxV4L.010064427651774416421457770ustar dblankfacultye norh>d(V4L.h"BTV4L::V4L (ome *./ ""1_d("/ =oatfo, =oatfo, =oatdenymhTych) : (fo, fo, de)gb_rder[eh iim Se ""1snETEORSu= ""1, 255,o./ ""1_d("/rn0 folt( ="win0 oon!2 ="hin0 = pt( ="din0 _hannel = _he ""1fETEORSustderF, "V4L kld(sr_) or '%s' (%d x %d) x %d _h = 1=)e6 c "= ""1, folt(,tfoon!2,r= pth, _hannel);00#if8_H VIDIOCGCAP""1sh iim folt( * oon!2 * = pt(;c BT84f p XC% "onn=o *Vrsome [sh i];0 nit(fmu248 yiniV4L::fdeRGB(mhTyenambopto8lenamrgb_rdeTyegb_order[MAXDEPTH] =d{enato8b};innforl(ot8 ( * _fd,VIDIOCMCAPTURE,& * _map)""1"M"1fETEORSustderF,"E F: 8 Ckmkapss ei. f1 Py rt F("8 CVIDIOCMCAPTUREi. f1 Py astT ""1"M"Mpf (-1 >ot8 ( * _fd,VIDIOCSYNC,& * _map)" fETEORSustderF,"E F: VivioCsynci. f t F("8 CVIDIOCSYNCi. f1 Py r astT " // rTp_egb24(toupo *) p XCn * _map.folt(* * _map. oon!2. f folt( =d * _map.folt( f oon!2 =" * _map. oon!2 f {oss BlPyInt_FandLong(0L);"1 Py r Py r Py rsleep(1); // forceec;urexr[ewitch . Sa yinigiaer[euck\n")f Inc // __Imil itmillisec r 248// Two nf,hods: v4leyou v4l200#if8_H VIDIOC_QUERYCAP"8 yiniV4L:: nit( yin""1fETEORSustderF,"Init-\n")VnSoeatermseQ erykap-V4L2)e6rn0 mf (-1 >ot( * _fd ="opMnu= ""1,O_RDWR))""1"MfETEORSustderF,"E F"opMn\n")onSoei= ""1i. f1 Pyt F(= ""1. f1 Pyexit(1)Pet_innpf (-1 >ot8 ( * _fd,VIDIOC_QUERYCAP,& * _cap)""1"MfETEORSustderF,"wrductd ""1)e6rn0 Pyexit(1)Pet_innpf (-1 >ot8 ( * _fd, VIDIOC_G1FMT, & * _pix)""1"MfETEORSustderF,"E F: 8 C1i. f1 Pyt F("8 CVIDIOC_G1FMT6rn0 Pyexit(1)Pet_inn * _pix.pixelf con =dV4L21PIX1FMT_BGR24;inn * _pix.= pt( ="dipth 8;inn * _pix.folt( =dcols;inn * _pix. oon!2 =" r=;e nnpf (-1 >ot8 ( * _fd, VIDIOC_S1FMT, & * _pix)""1"MfETEORSustderF,"E F: 8 C2i. f1 Pyt F("8 CVIDIOC_S1FMT6rn0 Pyexit(1)Pet_inn * _sh iim * _pix.folt( *n * _pix. oon!2 * (( * _pix.= pt(+7)/8)PetfETEORSustderF," * beF: me\n")%dx%dx%d => %d ),R,)e6 c " * _pix.folt(, * _pix. oon!2, * _pix.= pt(, * _sh irn0 mf (NULLp== ( p XC% "m x o ( * _sh ir)""1"MfETEORSustderF,"MMOLof =ovirtu,me's y)e6rn0 Pyexit(1)Pet_innfETEORSustderF,"Dyne_Init)VnSoeatermseQ erykap-V4L2)e6rn0} c BT84fc / C---------------------------------------------------------------------- (ct dkapss efdauff - ol *v4l (bttv)200 *********************************** (chio88_H VIDIOCGCAP"8 yiniV4L:: nit( yin""1fETEORSustderF,"Initiaviz\n")VnSoe4L_lbo %s..",o./ ""1rn0 mf (-1 >ot( * _fd ="opMnu= ""1,O_RDWR))""1"MfETEORSustderF,"E F:"opMn\n")onSoei= ""1i. f1 Pyt F(= ""1. f1 Pyexit(1)Pet_innpf (-1 >ot8 ( * _fd,VIDIOCGCAP,& * _cap)""1"MfETEORSustderF,"wrductd ""1)e6rn0 Pyexit(1)Pet_inn **/ s ge p XC%=)xas33fp) TV n c */inn * __han._hannel = _hannele nnpf (-1 >ot8 ( * _fd,VIDIOCGCHAN,& * _chan)""1"MfETEORSustderF,"E F:"VnSoe_hanneli. f1 Pyt F("8 CVIDIOCGCHAN6rn0 Pyexit(1)Pet_inn * __han._hannel = _hannele Pyinn * __han.n c =dGRAB_NORMe nnpf (-1 >ot8 ( * _fd,VIDIOCSCHAN,& * _chan)""1"MfETEORSustderF,"E F:"vnSoe_hannelC2i. f1 Pyt F("8 CVIDIOCSCHAN6rn0 Pyexit(1)Pet_inninn * _map.f con =dVIDEO_PALETTE_VGB24;inn * _map.fr 2im Se d * _map.folt( im folt(e d * _map. oon!2 ="hion!2;u mf (-1 =ot8 ( * _fd, VIDIOCGMBUF, & * _sPP)""1"Mt F("8 CVIDIOCGMBUF")Pet_inn * _sh iim * _sPP.eh in f p XC% "(=o *Vrsome *)p(NULL, * _sh i, PROT_THRE | PROT_WRITE, MAP_SHARED, * _fd, 0); mf ((d(h"ddddddddddd<__lbovnSoed / Ckhange s i. "vnSoed 2h"5C200v4l2 (c norh>d(jpeglib"8// T848_H GRAB_DEVICE*******"../ vnSoe1"8// T848_H GRAB_WIDTH********3208// T848_H GRAB_HEIGHT*******2408// T848_H GRAB_TEXT*********"v4l * %d.%m.%Y %H:%M:%S"********t forfti2 (chio88_H VIDIOCGCAP"/ Ct _nm ork5C200v4lfon y,Cneirv4l2 (c// # T848_H GRAB_SOURCE______1 # T848_H GRAB_NORM********VIDEO_MODE1NTSCc BT84fc//ex 0 n mhTyerFno; T /t *uV4L :) =848 "1 =848 : V4L (ome *./ ""1_d("/ =oatfo, =oatfo, =oatdenymhTych); ~V4L(fmu"1 =848 : PyObj t%*u2l<%MMap8 yin; yini nit( yin; yinifrTp_egb24(me *me'o8lenan; yinifdeRGB(mhTyenambopto8lenamr;00#if8_H VIDIOC_QUERYCAP"8"Meor_) v4l2_capabilansa nn * __ap;8"Meor_) v4l2_f con * _pixe0 mhTy * _fd, * _sh ie0 //=o *Vrsome *********** * _ddeT; c BT84fhio88_H VIDIOCGCAP"8"Meor_) vnSoe_capabilansa n * __ap;8"Meor_) vnSoe_p * _map;8"Meor_) vnSoe_sPP * _sPPF8"Meor_) vnSoe_channel a nn * __hane0 mhTy * _fd, * _sh ie0 //=o *Vrsome *********** * _ddeT; c BT84fh"1me ./ ""1[255]e0 mhTy_hannele "}; c BT84 // eV4L1HHt848 = v4lxV4L.i0100644201077.35154641426270ustar dblankfaculty%mo ulcv4l %{d(h"d(V4L.h"B%} % norh>dV4L.h/ /t848 = v4lx__fo__.p24120241151711557204ustar dblankfacultytandav4lffmport V4L #Ckp tandat.kpfmport r, CBuff = T /t *uV4Lylenamylena):""1""""""1"A Wrppy a8:t *uC200 pcC fuc.wids sell'kapss efddeTytandan e r.""1"It =s0s0 pcVnSoe4__lbo API,3fp) e _ p XC% kept uIgme's y3thanugh""1"anp.""1""""""1"8_H D_fo__(self,tfolt(,tfoon!2,r= pth 3, = ""1p= '../ vnSoe0', _hannel = 1, titl1p= None, vieMMOSystemp= None, vieMbl1p= 1):""1""1""""""1"""" f rece b__n dx 2 Gen dkapss efd uIge _../ t%d ts y.""1""""T__Imil hon!lyf'ach\ne-3fp) kldfigur00f -= p BTeb , sak__su efe m j** know wpage ork;ion__)xansystem""1""1"Channel - 0: televieMMO; 1: klposite; 2: S- dk* knugion__)xgge ork;o,ome *./ ""1_d("/ =oatfo, =oatfo, =o 2: S- dk* knugion__)xggegdrotmser an48"""1""""848foon!2 o"hion!2;umap.) MAP_Pyfig_SetS(/ Exc_IOfigur00f VIDIOgmenOFF Ifo__""1"Mt1 Py amap. p XC%AN6 UT_DEV=_Py1p== N""1"MMo"hion->Gf.d, "hion->ORSustdAN6tupleV=_Py_Build) kld("iiiO", "hion->ORSu, "hion-> ppH:%hion->S"1"Ch,H UT_DEstdAN6lt(fo"hionstdAN61 Py atupleastT Ft(fC UT_DEVgi-2-2bymalueE F, //Expex %alt(fE F,(S"1"Ch,H UT_DEs //Py s 0-- exsuc.= IOW(ic"/ Ct _nm lt(fE F,(/ Ct _nm pt( ="/ Ct _nm args)*)/ Ct _nm obj,m UT_DEatdenymhTyv""1) v4l2 F,mbop t%*de_) v4l//G_ Fs UT_DEVot _nmargxas33s (-1 >o!PyMrg_ParseTuple(args00fiO", &ome, &ot )) MAP_Pyfig_SetS(/ Exc_To""figur00fInf*/ argxas33sctdmlt(fE F,""1"Mt1 Py amap. p XC%AN6/ it'af*/ UT_DEVot _n (-1 >o!Py1p== N"Check(ot )) MAP_Pyfig_SetS(/ Exc_To""figur00fInf*/ argxas33:00v4la_Py1p== N""1"Mt1 Py amap. p XC%AN6/ConHWSSEot _nm"E UT_DEVot _n (- UT_DEV=_Py1p== N""1"MCt _n(obj,m0="/ _END_OF_BUFFER)//1""""VnSoe4n'b , san r=;e0 Cpot _nmp.CSt Fsprv4lS_CODheck (-1 >o UT_DE->ob_8o""->tp_as_ UT_DE->bf_a_ -1; UT_DEV=;umap.) MAP_Pyfig_SetS(/ Exc_To""figur00fInf*/ argxas33:00v4la_ -1;aytanPy1p== N""1"Mt1 Py amap. p XC%AN6/Cak_san F,mbop 000000 / AN6rn0 _) v4l. f1 PytORSuoUF") v4l2 F,mbop))//1""""fo__ Ig3_H UT u_ duPy1p== Not _nmnymo6rn0 _) v4lDIOCS//apss eds_) v4l->Gf.d pooeMMO"1""""sebegin-----) e _//Py1p== N'Ck0 nel _) v4l-> F("n!2 =o UT_DE->ob_8o""->tp_as_ UT_DE->bf_a_ -1; UT_DE)\8:t *uC200 pcC ffffffffffff( UT_DE, 0="&(_) v4l->Gf.d));l _) v4l->S"1"ChI=hTyv""1 (-1 >oClt(fE F,(_) v4l)) MAP_lt(fo"hion_) v4l); MAP_Pyfig_SetS(/ Exc_IOfigur00f VIDIOgmenOFF Ifo__""1"Mt1 Py amap. p XC%"1 (-t( ="win0 oon!2 ="hin0 = p //Expex %a(%M:%S"1"Ch,Hvize(=oatvivizeeMMO.g********ueE //Py s 0-up48""uc.= IOW(ic"/ Ct _nm folt(,tE F,(/ Ct _nm pt( ="/ Ct _nm args)*)nymhTyv,tvid""1) v4l2 F,mbop t%*de_) v4l. (!PyMrg_ParseTuple(args00fiiii", &ome*.&(vi&e, &o)) MAP_Pyfig_SetS(/ Exc_To""figur00fInf*/ argxas33sctdmlt(fE F,""1"Mt1 Py amap. p XC%AN6rn0 _) v4lDS"1"ChI=hTyv""1rn0 _) v4lDVppp=id""1. (Cfolt(,tE F,(&rn0 _) v4l,t)) MAP_Pyfig_SetS(/ Exc_IOfigur00f VIDIOgmenOFF Ifo__""1"Mt1 Py amap. p XC%AN6t( ="win0 oon!2 ="hin0 = p ../------/------c" IOW(ic"/ MrTp_eDef alue MrTp_es[ "V4LAN6{"alueE F,,malueE F,,_DEVH_VARARGS00fG2an F,m"},AN6{"folt(,tE F,,mfolt(,tE F,,_DEVH_VARARGS00fRolt(,t."},AN6{"lt(fE F,,mlt(fE F,,_DEVH_VARARGS00fFt(fCa ls;innd"},A ../------/------MrTp_es=d"")N6{map.f map.f 0f map.}ilansirv4l2 (alue c// #LAN6Pet_in/ _e_InM("alue ,malue MrTp_es = pt( ="din0 mhTyegb_order[MAXDEPTH] =d{enato8b};innforl(../../Make; gb.cf ""1xg:atb.h>../../Make; gb.src INCLUDE -1;I.o \$(CC) $(C CPPFL:.o \$(CC) $(C CPPF(PYWARN_ INCLU) LtoUX cdPYWARN_ IN; robocup: robocupo Robocupo e-W % G-Wno-unexWd -D_POSIX_robocupo Robocupo D_POSIX_THREAD_SAFE_FUNCTNimS \ -D_REENTute3Robocupo:: Robocup-D__Robocup(PYWARN_ INCLU) LIBDW % G-Wno-unexWd -D_POSIX_TRobocup-D_e3Robocup P_SRobocupi_Robocup(PYWARN_ INCLU) LIBDIRS= LIBS= - % lp __po__ USGOIXRobocup PSRobocupi robocupo:XRobocup PSA) -shaal *v4l o V4L.o ;I../ ""1xRobocup PSDIRS) -o $@ $(LIBS)BTV4L.o:: V4L. ;I../ ""1xRobocup PSrobocuppypt( ="din0 mhTyegb_order[MAXDEPTH] =d{enato8b};innforl( y [sh i];nVot aen= yh-f xh>> DIOCoooooooooooooooooooooooo// sbo Aas 2*dyh-fdxtvRE | PROTx0h!, x1)rlRGB po{gbt aen>=vieM{ y0h+=stepyR) t aen-= x;oooooooooooooooooooooooooooooooo// sbo Aas t aen-= 2*dxtvvvvv}tvvvvvx0h+=stepx;tvvvvvt aen+= y;oooooooooooooooooooooooooooooooooooo// sbo Aas t aen-= 2*dy---------sPet_ioxtviy0im)vv}tvde. forlRGB ;nVot aen= xh-f yh>> DIOtvRE | PROTy0h!, y1)rlRGB po{gbt aen>=vieM{ x0h+=stepx; t aen-= y;tvvvvv}tvvvvvy0h+=stepyR)tvvvvvt aen+= x;tvvvvv--sPet_ioxtviy0im)vv}tvd(c ( ="win0 odrawR1"MCELD Lbocux1viELD Lbocuy1im fo ffffffELD Lbocux2viELD Lbocuy2im fo ffffffELD LbocurviELD LbocugviELD Lbocuo{gbx1h>ux2 i9SWAP(x1vix2))f y1h>uy2 i9SWAP(y1imy2)// keepf VIr4L1Hx1h, MAX(MIN(""""""-i3x1),0y1h, MAX(MIN(B( 2, 1-i3y1),0x2h, MAX(MIN(""""""-i3xN(""""""MAX(MIN("""--s // yhfr 2ow 2*dy))xh<Gfs_nm pt( ="/ esy1)rlRm pt( ="/ lylisoatfo, =oimatfo, =oi,ocuxyp(NULL,("v4 d )/T_ di="/OCSa liso )/[{'rAB_N': [(4tvow (31tvow (15tvow (20tvow], )/ 'n der': [(17i38w], )/ 'Bottom': [(313w (316w (319w], )/ '1plefN': [], 'LefN': [], 'Top': [(213w (216w], 'lefN': [])/ [['b', 7.4000000000000004t-44.0t= 0)/0)/dr4l->GfsrlRm pt( ="/ key*e/fa*atfo, =on" th0;rlR, =olastX,olastY;rlRRE | PRPyDi="_N"(l->Gfs_n&n"_n&key&e/fa*an)NC,& * each e oooooo/keeeS"1"Ch__lbo API,3fe oooooo/e/fa*eeS"1"Chlisoo APl->GfsrlR olastXpxh, ,olastYpxh, - GB po{. (!PyM(key"ss00fy1)rlRGB )) MAP_Pyfig_SetS(/ Exc_To""figur00f__lbopf f.dmVBuf(DICT,LISTy1where DICTeeS"{__lb:o{guxy)...}1"Mpf (-1 ""1"Mt1 Py avvvv}tvmxh<%s' (%ixhPyLiso_Se/fa*a(%i++on!NC,& * each l->Gfopf e/fa*rlRGB ))pt( ="/ lySustdAN6tuLiso_GetIteme/fa*"Mpf (-1 as33s (-1 >o!PyMrg_ParlySustdple(as00fgux&y1"8_le)) MAP_Pyfig_SetS(/ Exc_To""figur00f{gu ypf f.dmVBuf(DICT,LISTy1where DICTeeS"{__lb:o{guxy)...}1"Mp ""1"Mt1 Py avvvvvv}tvvvfETEORS(__lbr= y1)rlRGB ca. f'N':rlRGB ca. f'l':rlRGB ca. f'b':rlRGB ca. f'r': drawR1"guxy,ocuxytvo8tvo8tvo8"Mp as33lastXp!xh, &&olastYp!="hion!2TV4Ldraw0 / astX,olastY,ocuxytvo8tvo8tvo8"Mp } break;rlRGB ca. f'T':rlRGB ca. f'L':rlRGB ca. f'B':rlRGB ca. f'R': C,&bnci.aries drawR1"guxy,ocuxyt0t="Mp as33lastXp!xh, &&olastYp!="hion!2TV4Ldraw0 / astX,olastY,ocuxyt0t="Mp } break;rlRGB ca. f'c':rlRGB ca. f'1':rlRGB ca. f'2':rlRGB ca. f'a':rlRGB ca. f'z':rlRGB ca. f'A':rlRGB ca. f'Z': drawR1"guxy,ocuxytt="Mp as33lastXp!xh, &&olastYp!="hion!2TV4Ldraw0 / astX,olastY,ocuxytt="Mp } break;rlRGB vv}tvvvlastXpxhx,olastYpxhy;rlRGBvv}tv)/dr4y1p== s ld(sr_) %s' (%ixhPyLiso_Sesy(%i++on! GB ))pt( ="/ y1pAN6tuLiso_GetItemes"Mpf (-as33s (-1 >o!PyMrg_ParMCt e(ars00f00fgux&y1"8_llRGB )) MAP_Pyfig_SetS(/ Exc_To""figur00flisooic.wito f.dmVBuf(DICT,LISTy1where LISTeeS"((00guxy)...)1"Mpf (-1 ""1"Mt1 Py avvvv}tvas33__lbr= 1; Uf'b'))/b.D_fo_drawR1"gyhfr 200gde"fr 2yh2t_sPP)e. fas33__lbr= 1; Uf'p'))/playN'Cfo_drawR1"gyhfr 200gde"fr 2yh2t0_sPP)e. fas33ORncmp(0"fg"i31; U=vi||33__lbr= 1; U'g'))Cfo_drawR1"guxy,ocuxyyh153_s)/goal WHICH IS """E?v}tvgb_rfolt( ="win0 oon!2 ="hin0 = pt( ="din0 mhTyegb_order[MAXDEPTH] =d{enato8b};innforl((?(a):()""-a,cu((a)<(?(a):()robocupRAB_HEIGHT******08// T848_obocup::Robocup (c// # d IOCGCAP"/ Ct _nm orkm pt( ="/ l->Gfs_nm pt( ="/ esy (c// # TsPet_iobocuxy (c// # draw0 / (ELD Lbocux1viELD Lbocuy1im ffELD Lbocux2viELD Lbocuy2im ffELD LbocurviELD LbocugviELD Lbocu (c// # drawR1"MCELD Lbocux1viELD Lbocuy1im ffELD Lbocux2viELD Lbocuy2im ffELD LbocurviELD LbocugviELD Lbocu (namrn0 mhTy*gdeRGB(rgb{oss Blegb;}0 mhTygetWolt(asgb{oss Blfolt(;}0 mhTygetHoon!28ogb{oss Bl oon!2;}0 mhTygetD pt(8ogb{oss Bl= pt(e}0 =o *Vrsome *gdeIp XC8ogb{oss Bl p XCm248otdiYELec) 0 =o *Vrsome * p XCmu mhTyfolt(;u mhTy oon!2;u mhTy= pt(e000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 Gf.de. robocupP"Meor_) vnSoe_channel a nn * __hane0 mhTy * _fsh ie0 //=o *Vrsome *********2TTTTTT6321411t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777RobRTy*gdeRGB(rgb{oss Blegb;}0 mhTygetWolt(asgb{oss Blfolt(;}0 mhTygetHoon!28ogb{oss Bl oon!2;}0 mhTygetD pt(8ogb{oss Bl= pt(e}0 =o *Vrsome *gdeIp XC8ogb{oss Bl p XCm248otdiYELec) 0 =o *Vrsome * p XCmu mhTyfolt(;u mhTy oon!2;u mhTy= pt(e000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 Gf.de. Gf.de. TTTTTTTTTTTTTTTTTTTTTTTTT61TTT1134T6353t848 = v4lx__fo__.p24.ocup PSocup Pmathpi, sinvieMs e n PIOVER18y0hpi / 18.0robocuptandav4lffmport V4L #ocupt,("v4l =80 .%(=oat=60 tandat.k00 pcC fuc.wids sel"1""1""""self.2= r=self.2= r="self.cuptt(1)Puptf.2= r="selff.2= r="self c =dGRAB_Nf.2= r="selfpf.2= r="self dk* knugion__obocup::"self,="self c ""self.ca8:t *uC200 pcCCCCCCCCCCCCC"self----------usatbe gdrotmser an48"""1""""self.= ""1p= = ""1""1""""self. andle=None""1""""self.csPP=None""1""""try: self.cpp= B= ""1, folt(,tfoon!2,r= pth)c self.cp.fdeRGB( 2, 1, 0) you h: ETEOR** know wpa _ p XC%failed!"""1""""# kldn t%vieMMOnsystem: --------------------------""1""""self.vieMMOn= vieMMOSystem""1""""self.vieMMO# ouf.d bnci.aries: Top, LefN, RvivizeBottom.vieMMO# iatbrfes: top, lefN, rvivizebottom.vieMMO# pentaebox: 1plefN, 2prAB_Nf.2= r=#fCpa31o API,3frobocupRSoccbrfSimulamanual:"""# kldn tesrTp_"top": ["lt", "ct", "rt"]""self.ca8:t *uC200 pc"lefN": ["lt", "glt", "gl", "glb", "lb"]""self.ca8:t *uC200 pc"bottom": ["lb", "cb", "rb"]""self.ca8:t *uC200 pc"rAB_N": ["rb", "grb", "gr", "grt", "rt"]""self.ca8:t *uC200 pc"Top": ["tl50", "tl40", "tl30", "tl20", "tl10", "t0","self.ca8:t *uC200 pcCCCCCCC"tr50", "tr40", "tr30", "tr20", "tr10"]""self.ca8:t *uC200 pc"LefN": ["lt30", "lt20", "lt10", "l0","self.ca8:t *uC200 pcCCCCCCC "lb30", "lb20", "lb10"]""self.ca8:t *uC200 pc"Bottom": ["bl50", "bl40", "bl30", "bl20", "bl10", "b0","self.ca8:t *uC200 pcCCCCCCC pc"br50", "br40", "br30", "br20", "br10"]""self.ca8:t *uC200 pc"RAB_N": ["rt30", "rt20", "rt10", "r0","self.ca8:t *uC200 pcCCCCCCC p"rb30", "rb20", "rb10"]""self.ca8:t *uC200 pc"n der": ["t0", "ct", "c", "cb", "b0"]""self.ca8:t *uC200 pc"1plefN": ["plt", "plc", "plb"]" "self.ca8:t *uC200 pc"2prAB_N": ["prt", "prc", "prb"]""self.ca8:t *uC200 pc"a": ["plt", "lt20"]" #/dr4lentaebox sides"self.ca8:t *uC200 pc"A": ["plb", "lb20"]" #/dr4lentaebox sides"self.ca8:t *uC200 pc"z": ["prt", "rt20"]" #/dr4lentaebox sides"self.ca8:t *uC200 pc"Z": ["prb", "rb20"]" #/dr4lentaebox sides"self.ca8:t *uC200 pc} ETEOR** -""1""""848titl1p== None: ETEOR**.folt( tvi3ieMMO.getWolt(t(,tfoon"self. oon!2 ="set(,vieMMO.getHoon!28o""1""""self."self,="self c "TEOR** kno,"self.ca8:t *uC200 pcCgetHoon View"addeTytasPP ="self.vieMMO.getMMap8oocup P" ETEOR** -""1""""848titl1p== None:dav4lffm---P->Gf( "self.d: an F,(s y3th --):ieMmederseeomglbo Af n derpf (-1 owMMOnsyst-s // yh; UT_DE)\8:t *nsyst-s // *ieMs((s y3th --*iPIOVER18y x))g: an F/Gf..0\8:t *colMMOnsyst/2.0h; UT_DE)\8:t *+1, folt(,tfo* sin((s y3th --*iPIOVER18y x))g: an F/Gf..0\8:t *if owM< 0egb2owM>MOnsyst-s // __Imil hon!l""1"Mtsell'selieMMO. screen\8:t *if colM< 0egb2colM>MOnsyst__Imil hon!l""1"Mtsell'selieMMO. screen\8:t *l""1"Mt[>Gf(col)(ow)]:dav4lffmlookupaw0 s( "self.flagN_lbo"1""1""""l""valMMO[]""1""""(sr_eN_lbopf dn tes__Imil hon!if flagN_lbopf dn tes[eN_lb]: UT_DE)\8:t *l""val.nd(_eN_lbo)\8:t *l""1"Mtl""val:c titl1p= self.= ""1""1""""pth, titl1p= titlf.cp)Pupt----(oocupt/itl".= i9["s)xas3"] =d= ""1""1""waitsebe foltglt(colbo ne..."_Imil hon!l""1"Mt#rgxas INCy yeNf.2= r="se.s(lambda x,y: cmp(y[1],x[1]))Cfo_objlisooMO[]""1""""eP->GfsrTp_}""1""""(sr_sopf dn tes__Imil hon!eP->Gfs[s]MMO[]""1""""(sr_ic.wipf dne__Imil hon!#_ic.wips sotT sebelike: [['f',f'c']" 14, 36t= _Imil hon!if len(ic.w)M>MO3:ieMoI,3rwiit'ca""Vndo much1 Pye Pys y3th -- UT_DE)\8:t *Trem[0]r= 1; U"f" sr_ic.w[0]r= 1; U"g":!#_ic flag sr_goal"self.ca8:t *uC2flagN_lbo U"""self.ca8:t *uC2fgb2chipf ic.w[0]r1:]: UT_DE)\8:t *t *uC2flagN_lbo+ U"%s" %2ch UT_DE)\8:t *t *onLesrTpdn tookupaw0 s( flagN_lbo""self.ca8:t *uC2fgb2onLeipf onLes: UT_DE)\8:t *t *uC2#.d: an F,(s y3th -- UT_DE)\8:t *t *uC2cuxyTpdn t---P->Gf( ic.w[1], ic.w[2]""self.ca8:t *uC2t *Trxp!="seliOCSyp!="sel: UT_DE)\8:t *t *uC2 n!eP->Gfs[onLe].nd(_{guxy)o""self.ca8:t *Trem[0]r= 1; U"p" sr_; UT_DE)\8:t *uC200 pem[0]r= 1; U"b" sr_; UT_DE)\8:t *uC200 pem[0]r= 1; U"g" sr_; UT_DE)\8:t *uC200 p(em[0]r= 1; U"f" ome .w[0]r1 1; U"g"): UT_DE)\8:t *t * .wN_lbo U"""self.ca8:t *uC2fgb2chipf ic.w[0]: UT_DE)\8:t *t *uC2 .wN_lbo+ U"%s" %2ch UT_DE)\8:t *t *Trxp!="seliOCSyp!="sel: UT_DE)\8:t *t *uC2l""valMMOdn t---P->Gf(ic.w[1],ic.w[2]""self.ca8:t *uC2t *objliso.nd(_{ .wN_lb,2l""val[0],2l""val[1])o""self.cpth, titl1p= titl1o""1""""self.= vi9["subeP->Gfs,*objliso.= i9["s)xa (/ Exc_Ts3"] =d= ""1""1""eigur00f robocupon!2 : ignorlf.cl1p= titl1o""1""""self.=#fCildersTy*gdeRGB(rgb{oss Blegb;}0 mhTygetWolt(asgb{oss Blfolt(;}0 mhTygetHoon!28ogb{oss Bl oon!2;}0 mhTygetD pt(8ogb{oss Bl= pt(e}0 =o *Vrsome *gdeIp XC8ogb{oss Bl p XCm248otdiYELec) 0 =o *Vrsome * p XCmu mhTyfolt(;u mhTy oon!2;u mhTy= pt(e0000000000000000000000000 Gf.dengerobocupP_SOURCE__ \$(PYWARN_ INCLU) LIBS= -lstdc++ -ld % lpth f/a VieMMO.o:: VieMMO.ieMMO.h \$(CC) $(C CPPFLA) -o $03440602142765 h"1m431 *~ 848:ean-W :: \$(RM) * th * o/ /t848 = v4lx04211111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111 Gf.dengeeeeeeeee16634-o $0344060214511TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTt848 = ./ ""1x.s.h0100644210620# EngeARN_0f ap)rolle n,er a,*os gui.olbo Aaolb r an4o Aa, _hannEnge:dav4lffmport V4L #ocuptIOCStds sell'br_0fIOCStds sell'simIOCStds sell"self.ca8:t *uC2tseTu=[], _(selfrTp_},= '.ldIOCStds sell'up(PYsrTp['']):"""# kldn t.cuptt(10"""# kldn tbr_0ft(10"""# kldn tguitds sel\8:t *if br_0fIOCSt!="sel: UT_DE)\8:dn tbr_0fIOCStdsbr_0fIOCS= i9[lsl: UT_DE)\8:dn tbr_0fIOCStds''\8:t *if ouptIOCSt!="sel: UT_DE)\8:dn tocuptIOCStdsocuptIOCS= i9[lsl: UT_DE)\8:dn tocuptIOCStds''\8:t *if '.ldIOCSt!="sel: UT_DE)\8:dn t '.ldIOCStds '.ldIOCS= i9[lsl: UT_DE)\8:dn t '.ldIOCStds''\8:t *if simIOCSt!="sel: UT_DE)\8:dn tsimIOCStdssimIOCS= i9[lsl: UT_DE)\8:dn tsimIOCStds''\8:t *dn tseTuy0hpseTu"""# kldn t%(selfrTp%(self\8:t *if sn tsimIOCS: UT_DE)\8:dn tloadSimula(sn tsimIOCS,:dn t '.ldIOCS""self.ca8:* _fd,2)\8:t *if sn tocuptIOCS: UT_DE)\8:dn tloadrobot(sn tocuptIOCS""self.ca8:if up(PYsr!Tp['']: UT_DE)\8:t *fgb2gme'0ftup(PYs: UT_DE)\8:t *t *p)Pupt-TTTTtself.cpup)\8:t *if sn tbr_0fIOCS: UT_DE)\8:dn tloadBr_0f(sn tbr_0fIOCS""self.ca8:* _fd,2)dav4lffmreset.= ""1""1""""itl1o"leaseSto----------* _fd,.1.=#f UT *e nolt(sto-\8:t *if sn tbr_0fxhfr t 0: UT_DE)\8:dn tbr_0fo"leaseQuit(""self.ca8:* _fd,.1.=#f UT *e nolt(sto-\8:t ****#dn t.cuptt(1, _hantloadINIT(sn tocuptIOCS,2l"do ddeT"self.ca8:th, titl1p= t\8:dn tbr_0fowindow.desroy(""self.ca8:["s)xas3"] =d= """"ot "self.ca8:th, titl1p= t\8:dn tbr_0fodesroy(""self.ca8:["s)xas3"] =d= """"1""1""I w Aaun4la_ lt(""1perly desroyoeMMO"r_0f" UT_DE)\8:dn tbr_0ft(1, _hantloadINIT(sn tbr_0fIOCS, "self.1)dav4lffmresetFirstAtc.wpts.= ""1""1""""itl1o"leaseSto----------if sn tocuptIOCS: UT_DE)\8:IOCStdssn tocuptIOCS[0:-3]=#fas33pMMO. Srob\8:t ****#IOCStdsrepla.cp'/',f'.') UT_DE)\8:IOCStdsplit('/') UT_DE)\8:IOCStds"" +:IOCS[-3]=+ "" +:IOCS[-2]=+ "" +:IOCS[-1 _Imil hon!1""1"IOCS= i9a8:["ec( "reload(" +:IOCS=+ ")")\8:t *if sn tbr_0fIOCS: UT_DE)\8:IOCStdssn tbr_0fIOCS[0:-3]=#fas33pMMO. Srob\8:t ****#IOCStdsrepla.cp'/',f'.') UT_DE)\8:IOCStdsplit('/') UT_DE)\8:IOCStds"" +:IOCS[-3]=+ "" +:IOCS[-2]=+ "" +:IOCS[-1 _Imil hon!1""1"IOCS= i9a8:["ec( "reload(" +:IOCS=+ ")")\8:t ****#["ec( "reload(" +:IOCS=+ ")")\8:t ****#reload(IOCS""self.ca8:#reload(sn tbr_0fIOCS""dav4lffmloadSimula(sn , IOCS, '.ldIOCS": UT_DE)as33s:Cfo_op=as33s:plit(IOCS""self.cguiflag ds''\8:t *dimulaN_lbo Uplit('/')[-1 _Imil hPIDo Uost---pid---------if simulaN_lb[-6: 1; U"Server":"self.ca8:%(selfDiN_lbo UsimulaN_lb[:-6 _Imil hon!if , _hant_exists. '.ldIOCS": UT_DE)Imil h# leaUT *alsel\8:t *a8:[lif , _hant_exists.Uost---env('PYRO')=+ ; UT_DE)\8:t *uC200 pcC fffffffffff'/plugs/%(selfs/%s/%s' % (%(selfDiN_lb, '.ldIOCS"": UT_DE)Imil h '.ldIOCStdsost---env('PYRO')=+ ; UT_DE)\8:t *uC200 pcC f'/plugs/%(selfs/%s/%s' % (%(selfDiN_lb, '.ldIOCS"_Imil hon!if ,n t%(self----(o", "gui") tlowe 1; U'tty': UT_DE)Imil hguiflag ds'-g'_Imil hon!if , _hant_exists.opr= y: UT_DE)Imil host, _han(IOCS=+ (" %d " %2PID)=+ guiflag + " " +: '.ldIOCSt+ " &")\8:t ****[lif , _hant_exists.ost---env('PYRO')=+ ; UT_DE)\8:t *uC200 pcC ffffffffff'/plugs/simulas/'=+ opr= y: UT_DE)Imil host, _han(ost---env('PYRO')=+ '/plugs/simulas/'=+ IOCSt+ ; UT_DE)\8:t *uC200 pcC(" %d " %2PID)=+ guiflag + " " +: '.ldIOCSt+ " &")\8:t ****[lsl: UT_DE)\8:t *lyf'ac'Server IOCStr t fnci.: '=+ IOCS= i9[lsl: UT_DE)\8:# Ends1 Pyex"Simula" UT_DE)\8:dimDiN_lbo UsimulaN_lb[:-9 _Imil hon!if , _hant_exists. '.ldIOCS": UT_DE)Imil h# leaUT *alsel\8:t *a8:[lif , _hant_exists.Uost---env('PYRO')=+ ; UT_DE)\8:t *uC200 pcC fffffffffff'/plugs/ '.lds/%s/%s' % (dimDiN_lb, '.ldIOCS"": UT_DE)Imil h '.ldIOCStdsost---env('PYRO')=+ ; UT_DE)\8:t *uC200 pcC f'/plugs/ '.lds/%s/%s' % (dimDiN_lb, '.ldIOCS"_Imil hon!if ,n t%(self----(o", "gui") tlowe 1; U'tty': UT_DE)Imil hguiflag ds'-g'_Imil hon!if , _hant_exists.opr= y: UT_DE)Imil host, _han(IOCS=+ (" %d " %2PID)+ guiflag + " " +: '.ldIOCSt+ " &")\8:t ****[lif , _hant_exists.ost---env('PYRO')=+ ; UT_DE)\8:t *uC200 pcC ffffffffff'/plugs/simulas/'=+ opr= y: UT_DE)Imil host, _han(ost---env('PYRO')=+ '/plugs/simulas/'=+ IOCSt+ ; UT_DE)\8:t *uC200 pcC(" %d " %2PID)=+ guiflag + " " +: '.ldIOCSt+ " &")\8:t ****[lsl: UT_DE)\8:t *lyf'ac'SimulaIOCStr t fnci.: '=+ IOCS= i91""1""Load3s:","self.c, _-TTdout.flush---------* _fd,eT"self.c1""1""","self.c, _-TTdout.flush---dav4lffmloadrobot(sn ,IOCS": UT_DE)f:IOCS[-3: 1!Tp'Sro': UT_DE)\8:IOCStdsIOCSt+ 'Sro'-------if s _hant_exists.IOCS": UT_DE)Imidn t.cuptt(1, _hantloadINIT(IOCS"_Imil hon!dn tocuptIOCStdsIOCS= i9[lif , _hant_exists.ost---env('PYRO')=+ ; UT_DE)\8:t *uC200 pcC fffffff'/plugs/ocupts/'=+ IOCS): UT_DE)Imidn t.cuptt(1, _hantloadINIT(ost---env('PYRO')=+ ; UT_DE)\8:t *uC200 pcC fffffffffffffff'/plugs/ocupts/'=+ IOCS)_Imil hon!dn tocuptIOCStdsost---env('PYRO')=+ '/plugs/ocupts/'=+ IOCS= i9[lsl: UT_DE)\8:lyf'ac'robotIOCStr t fnci.: '=+ IOCS=dav4lffm__)xobot(sn ,ocupt):"""# kldn t.cuptt(1)Puptfdav4lffm__)Br_0f(sn ,br_0f):"""# kldn tbr_0ft(1br_0f-dav4lffmloadBr_0f(sn ,IOCS": UT_DE)f:dn t.cupttis 0: UT_DE)\8:lyf'ac'No1)Puptmloaded1whenmloadsebebr_0f' UT_DE)f:IOCS[-3: 1!Tp'Sro': UT_DE)\8:IOCStdsIOCSt+ 'Sro'-------if s _hant_exists.IOCS": UT_DE)Imith, titl1p= t\8:dn tbr_0fowindow.desroy(""self.ca8:["s)xas3"] =d= """"ot "self.ca8:th, titl1p= t\8:dn tbr_0fodesroy(""self.ca8:["s)xas3"] =d= """"ot "self.ca8:dn tbr_0ft(1, _hantloadINIT(IOCS, "sel)_Imil hon!dn tbr_0fIOCStdsIOCS= i9[lif , _hant_exists.ost---env('PYRO')=+ ; UT_DE)\8:t *uC200 pcC fffffff'/plugs/br_0fs/'=+ IOCS): UT_DE)Imith, titl1p= t\8:dn tbr_0fowindow.desroy(""self.ca8:["s)xas3"] =d= """"ot "self.ca8:th, titl1p= t\8:dn tbr_0fodesroy(""self.ca8:["s)xas3"] =d= """"ot "self.ca8:dn tbr_0ft(1, _hantloadINIT(ost---env('PYRO')=+ ; UT_DE)\8:t *uC200 pcC fffffffffffffff'/plugs/br_0fs/'=+ IOCS, "sel)_Imil hon!dn tbr_0fIOCStdsost---env('PYRO')=+ '/plugs/br_0fs/'=+ IOCS= i9[lsl: UT_DE)\8:lyf'ac'FOCStr t fnci.: '=+ IOCS=dav4lffm FBr_0f(sn ": UT_DE)f:dn tbr_0ft!Tp0: UT_DE)\8:dn tbr_0fo"leaseQuit(""self.cdav4lffm Fxobot(sn ):"""# kldn t FBr_0f(--------if sn tocuptt!Tp0: UT_DE)\8:dn t)Pupt-disusatbe ---dav4lffmshuTdown(sn ):"""# kldn t Fxobot()_Imil hon!dav4lffmthToCsatbe -sn ": UT_DE)f:(dn t.cupttis 0) sr_(sn tbr_0ftis 0)s3"] =d= ""1""1""Nee. BGR""a1)PuptmOCSbr_0ftusatbe F, "foon!2 n!l""1"Mt#no go,tr t en"ortWolt( 3,frankie go-dav4lffm"leaseRuf(sn ,nOF p= 0)s3"] =d=if sn tbr_0fxhfr t 0: UT_DE)\8:dn tbr_0fo"leaseRuf(nOF p)-dav4lffm"leaseStep(sn ": UT_DE)f:dn tbr_0ftxhfr t 0: UT_DE)\8:dn tbr_0fo"leaseStep(""self.ca8:* _fd,.5.=#farbitra nolt( v4lw *e1""""sotT seb UT_DE)\8:dn t)Pupt-move(t="-dav4lffm"leaseStop(sn ": UT_DE)f:dn tbr_0ftxhfr t 0: UT_DE)\8:dn tbr_0fo"leaseSto----------if sn tocupttxhfr t 0: UT_DE)\8:dn t)Pupt-TTo----dav4lffm_dr(sn ,op,ron!2rer": # overloadf _r you wan*e1""dr4it"self.cdav4lffmdesroyBr_0f(sn ": UT_DE)f:dn tbr_0ftxhfr t 0: UT_DE)\8:th, titl1p= t\8:dn tbr_0fodesroy(""self.ca8:["s)xas3"] =d= """"1""1""I w Aaun4la_ lt(""1perly desroyoeMMO"r_0f" dav4lffm---GUI(sn ": UT_DE)l""1"Mtdn tguiTy*gdeRGB(rgb{oss Blegb;}0 mhTygetWolt(asgb{oss Blfolt(;}0 mhTygetHoon!28ogb{oss Bl oon!2;}0 mhTyg Gf.dgeneralrobocupP_SOURCE__ \$(PYWARN_ INCLU) LIBS= -lstdc++ -ld % lpth f/a VieMMO.o:: VieMMO.ieMMO.h \$(CC) $(C CPPFLA) -o 0735723e. T13154 h"1m431 *~ 848:ean-W :: \$(RM) * th * o/ /t848 = v4lx04211111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111 Gf.dgeneralsh ie0 //=o *Vrsome ********A) -o 005514371214523t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777 Gf.dgeneralans Gf.de. TTTTTTTTTTTTTTTTTTTTTTT3465-o 0263536134466 76 h"16063./ ""1[255]e0 mhTy_hannele "}; c BT84 // eV4L1HHt848 = v4lxV4L.i010064420107# An*algorithm:["periar# D.S. B randrand verandle=N"0.2Board: UT_Dlffmport V4L #"v4l .%(=oatvipsPetsPerCellMMO10getD pt(8o"Ans"): UT_DE)\8""" A board*fgb2a/ argxa["plore=self.2= r= fCTk>Gf.d Tk, Canvas, Topeeeeef.2= r= f, folt(,tfof.2= r=r="self c =dGRAB_Nf.2= r=kldn t%(',0 = ["white", "blp", "red", "yev4lw", "blue", "green", "purpee", "pin", "cyan", ""1"quof'a", "gray"]f.2= r=kldn tboard*= [[Py xepf VIr4L:"self)]Py yepf VIr4L:"selfGRAB_N)]f.2= r=kldn tbox*= [[Py xepf VIr4L:"self)]Py yepf VIr4L:"selfGRAB_N)]f.2= r=kldn tpsPetsPerCellMMOpsPetsPerCellf.2= r=kldn ttD pt(8o""1""f.2= r=kldn ta) v4Tk(""self.ca8dn ta) . Pyedr()f.2= r= f, folt(le=NTopeeeee()f.2= r= f, folt(l.wm_""1""(""1"")f.2= r= f, folcanvas1"""anvas:"selfn,"self.ca8:t *uC200 pcCCCCCCC "v4l =:"self *OpsPetsPerCell),"self.ca8:t *uC200 pcCCCCCCC %(=oat=:"selfGRAB_N *OpsPetsPerCell))f.2= r= f, folcanvas.pp(side ds'bottom',a["pOCS= "yess00anch,0 = "n","self.ca8:t *uC200 pcCCCCfillMMO'both')f.2= r= f, folt(l.w0fIo_topeeeee()o""1to%('('WM_DELETE_WINDOW',, folclos")f.2= r= f#, folcanvas.bind("",:dn ttc CgeS)f.2= r= f, foldr()f UT_Dlffmpo--- .w4L #Ct _: UT_DE)\8""" A sh,0tcut t needsa board*---e=self.2= r= fcuxyTpseTu"""# kl fcpos, ypostdssn tmove(guxy)"""# kl fl""1"Mtdn tboard[cpos][ypos]f UT_Dlffmpos-- .w4L #(guxy), e/fa*_: UT_DE)\8""" A sh,0tcut t nignsa board*---e=self.2= r= fcpos, ypostdssn tmove(guxy)"""# kl f, folcanvas. .w%(self(dn tbox[x][y],CfillMMOdn t%(',0[e/fa*],CouteMMOdn t%(',0[e/fa*])"""# kl f, folcanvas.= self.)f.2= r=kldn tboard[x][y]e=No/fa*r UT_Dlffmmove( #guxy,ocMO.get= 0uxyMO.get= 0_: UT_DE)\8""" Mov6/CaGfopf a(s y3th --self.2= r= fl""1"Mt(gde"cMO.get) %."self,=(yde"yMO.get) %."selfGRAB_Nf UT_Dlffmclos"(sn ": UT_DE)\8""" clos"oeMMOwindowself.2= r= fdn ta) .desroy("" UT_Dlffmdr(sn ": UT_DE)\8""" IoeMMO"oard. You m""""t_r you ever wan*e1"sastT Fpathself.2= r= f1""1""Ddr3s:..","self.ca8stdssn tpsPetsPerCellf.2= r=klPy hepf VIr4L:"selfGRAB_N): UT_DE)\8:t *fgb2wepf VIr4L:"self): UT_DE)\8:t *t *udn tbox[w][h]MMOdn t%anvas.cC%AN6_y3thomglb(w*s, h*s, w*s+s, h*s+s, UT_DE)\8:t *uC200 pcC ffffffffffffffffffffffffffffffffffffffffillMMO"gray",CouteMMO"gray")"""# kl f, folcanvas.= self.)f.2= r=kl1""1""Done!An: UT_D""" ACaGfoself.2= lffmport V4L #xtds sell'ytds sell'uirtds sell'rupt(8o"01"): UT_DE)\8Trxp=="sel: UT_DE)\8:t *, folxtdsrand.)f.2= r=kl[lsl: UT_DE)\8:t *, folxtdsx UT_DE)\8Tryp=="sel: UT_DE)\8:t *, folytdsrand.)f.2= r=kl[lsl: UT_DE)\8:t *, folyh, UT_DE)\8Truirtd="sel: UT_DE)\8:t *, foluirtds"NSEW"[>Gf(rand.) *O4)]f.2= r=kl[lsl: UT_DE)\8:t *, foluirtdsuir"""# kl f, folrupt(8orupt" UT_Dlffmn"Posih --OO.get(sn ": UT_DE)\8""" TheMMO.getWo API,3fn" moveself.2= r= ff:dn tuirtd=""N": UT_DE)\8:t *l""1"Mt(0ux-1)f.2= r=kl[lf:dn tuirtd=""S": UT_DE)\8:t *l""1"Mt(0ux1)f.2= r=kl[lf:dn tuirtd=""E": UT_DE)\8:t *l""1"Mt(1t="-.2= r=kl[lf:dn tuirtd=""W": UT_DE)\8:t *l""1"Mt(-1t="-.2= r=kl[lsl: UT_DE)\8:t *lyf'ac(/ Exc_To""iigur00fs y3th --'%s'" %."selfuir"""# kl f UT_Dlffm"1"M #"1"MDir": UT_DE)\8""" WhaPys yOwillM_nm"1"Iac3fn"?self.2= r= ff:"1"MDir1; U=:# left UT_DE)\8:t *f:dn tuirtd=""N": UT_DE)\8:t *****, foluirtds"W""self.ca8:t *[lf:dn tuirtd=""W": UT_DE)\8:t *****, foluirtds"S""self.ca8:t *[lf:dn tuirtd=""S": UT_DE)\8:t *****, foluirtds"E""self.ca8:t *[lf:dn tuirtd=""E": UT_DE)\8:t *****, foluirtds"N""self.ca8:t *[lsl: UT_DE)\8:t *****lyf'acV/fa*Exc_To""iigur00fs y %s" %2"selfuir"""# kl f[lf:"1"MDir1; U1:# rAB_Nf.2= r=kl:t *f:dn tuirtd=""N": UT_DE)\8:t *****, foluirtds"E""self.ca8:t *[lf:dn tuirtd=""E": UT_DE)\8:t *****, foluirtds"S""self.ca8:t *[lf:dn tuirtd=""S": UT_DE)\8:t *****, foluirtds"W""self.ca8:t *[lf:dn tuirtd=""W": UT_DE)\8:t *****, foluirtds"N""self.ca8:t *[lsl: UT_DE)\8:t *****lyf'acV/fa*Exc_To""iigur00fs y %s" %2"selfuir"""# kl f[lsl: UT_DE)\8:t *lyf'acV/fa*Exc_To""iigur00f"1"MDir1%d" %2"1"MDirr UT_Dlffmmove( #"oard_: UT_DE)\8""" M3,_nm"1"moveself.2= r= f#fCirstvi 3,your2"1"M: UT_DE)\8currentS--e==#"oard[, folx,, foly]f.2= r=kl"1"MDir1;f, folrupt[(currentS--e=+x1) %2len(, folrupt)]f.2= r=kldn t"1"M ("1"MDir"o""self.ca8# n"_nlec tc Cge"tcell ---e: UT_DE)\8TrcurrentS--e=>=2len(, folrupt)yhf: UT_DE)\8:t *"oard[, folx,, foly]t(10"""# kl f[lsl: UT_DE)\8:t *"oard[, folx,, foly]t(1currentS--e=+x1"self.ca8# OCSlec move: UT_DE)\8MO.getWo;f, foln"Posih --OO.get(.=#fba--guxy,oOCSuir"""# kl f, folx,*, folyh"oard.move( lx,*, fol,8MO.getW[0],2MO.getW[1])" ifmpo__lb__td=""__N_0f__": UT_Dlffmask(msg_: UT_DE)\81""1"msgo""(ydgb2n):lf.2= r= fl""1"Mtdrortput 1; U'y'r UT_Difmask("Do you wan*e1"sasL Cgton HAB_way?"): UT_DE)Imboard*= Board(100ux100ux5""self.ca8an*=An("oard. /h2t"oard.GRAB_N /h2t"S"t"10")"""# kl f(sr_iepf VIr4L:1o 00): UT_DE)\8:t *an.move("oard_r UT_Difmask("Do you wan*e1"sasCaGfo PyexneM---es?"): UT_DE)Imboard*= Board(100ux100ux6""self.ca8an*=An("oard. /h2t"oard.GRAB_N /h2t"S"t"101111101")"""# kl f(sr_iepf VIr4L:1o 00): UT_DE)\8:t *an.move("oard_r UT_Difmask("Do you wan*e1"sasmboard* Pyextwo2a/ a?"): UT_DE)Imboard*= Board(100ux100ux4""self.ca8an1*=An("oard. /h2t"oard.GRAB_N /h2t"S"t"10")"""# kl fan2*=An("oard. /h4t"oard.GRAB_N /h4t"N"t"10")"""# kl f(sr_iepf VIr4L:1o 00): UT_DE)\8:t *an1.move("oard_rUT_DE)\8:t *an2.move("oard_r UT_Difmask("Do you wan*e1"sasmboard* Pyextwo2di48tient kinds1 APa/ a?"): UT_DE)Imboard*= Board(200ux200ux4""self.ca8an1*=An("oard. /h2t"oard.GRAB_N /h2t"S"t"101111")"""# kl fan2*=An("oard. /h4t"oard.GRAB_N /h4t"N"t"10")"""# kl f(sr_iepf VIr4L:1o 00): UT_DE)\8:t *an1.move("oard_rUT_DE)\8:t *an2.move("oard_r20107 Gf.dgeneralboids Gf.de. TTTTTTTTTTTTTTTTTTTTTTTT721TTT03220465344666134h"16063./ ""1[255]e0 mhTy_hannele "}; c BT84 // eV4L1HHt848 = v4lxV4L.i010064420107# Bo00f["periar# D.S. B randrand math noa _fd verandle=N"0.0Board: UT_Dlffmport V4L #"v4l .%(=oatvitD pt(8o"Bo00s"): UT_DE)\8""" A board*fgb2boidsrgxa["plore=self.2= r= fCTk>Gf.d Tk, Canvas, Topeeeeef.2= r= f, fol%(',0s = ["white", "blp", "red", "yev4lw", "blue", "green", "purpee", "pin", "cyan", ""1"quof'a", "gray"]f.2= r=kldn tt(,tfof.2= r=r="self c =dGRAB_Nf.2= r=kldn td: an FMMO10f.2= r=kldn tboidsrMO[]""1""""kldn toldV3th,0 = []f.2= r=kldn t"D pt(8o""1""f.2= r=kldn ta) v4Tk(""self.ca8dn ta) . Pyedr()f.2= r= f, folt(le=NTopeeeee()f.2= r= f, folt(l.wm_""1""(""1"")f.2= r= f, folcanvas1"""anvas:"selfn,"self.ca8:t *uC200 pcCCCCCCC "v4l ="self,"self.ca8:t *uC200 pcCCCCCCC %(=oat="selfGRAB_N)"""# kl f, folcanvas.pp(side ds'bottom',a["pOCS= "yess00anch,0 = "n","self.ca8:t *uC200 pcCCCCfillMMO'both')f.2= r= f, folt(l.w0fIo_topeeeee()o""1to%('('WM_DELETE_WINDOW',, folclos")f.2= r= f#, folcanvas.bind("",:dn ttc CgeS)f.2= r= f, foldr()f UT_Dlffmclos"(sn ": UT_DE)\8""" clos"oeMMOwindowself.2= r= fdn ta) .desroy("" UT_Dlffmdr(sn ": UT_DE)\8""" IoeMMO"oard. You m""""t_r you ever wan*e1"sastT Fpathself.2= r= f1""1""Ddr3s:..","self.ca8s folcanvas.delece("boid")"""# kl f(sr_boidopf dn tboids: UT_DE)\8:t *, foludrBo00(_boido)"""# kl f, folcanvas.= self.)f.2= r=kl1""1""Done!UT_DlffmdrBo00( #"oid_: UT_DE)\8so= 40f.2= r=klomglbo= 80f.2= r=klxyh"oid.gyhs/2f.2= r=klyyh"oid.yyhs/2f.2= r=klTTTTtyh(("oid.s y + 18 + omglb/2)yh55) %2360f.2= r=kl%(',0 = , fol%(',0s["oid.%(',0]"""# kl f, folcanvas.cC%AN6_arc"guxy,oc*+1,l'yt+1,l"self.ca8:t *uC200 pcCCCCCCC klTTTTtyhTTTTt,a["ten*=omglb/2l"self.ca8:t *uC200 pcCCCCCCC klfillMMO%(',0,CouteMMO%(',0,Ctag ds"boid")"""# kl f UT_DlffmaddBo00( #"oid_: UT_DE)\8sn tboids.nd(_boido)"""# kl f, fololdV3th,0.nd(_0o)"""# kl f, foldr()f UT_Dlffmd: #x-i3,ocux2y2_: UT_DE)\8l""1"Mtmath.sqrt(o{gbx-3x ** 2=+ (, y1h-x ** 2)f UT_DlffmomglbTo( #",ob2_: UT_DE)\8#fCifureCoutlomglboCboid1*e1"boid2 UT_DE)\8#ft_s j"a est! UT_DE)\8Trsn tboids[b1]. xhsn tboids[b2]. : UT_DE)\8:t *l""1"Mt-10f.2= r=kl#*l""1"Mt-ff:"ostT Frvivize+ff:"ostT Fleft UT_DE)\8[lsl: UT_DE)\8:t *l""1"Mt10f UT_Dlffmovo00( #num,radiu _: UT_DE)\8(sr_iepf VIr4L:len(, folboids"": UT_DE)Imil hTrt!Tpnum: UT_DE)\8:t *****f:dn tui tboids[i]lx,*, folboids[i]lyl"self.ca8:t *uC200 pcCCCCCCC , folboids[num]lx,*, folboids[num]ly )xhradiu : UT_DE)\8:t *****:t *l""1"Mt-dn tamglbTo(#num,i)"""# kl fl""1"Mt..0\8:t UT_Dlffmcopy( #num,radiu _: UT_DE)\8#*if i seradiu ,needsclos"r:"ostT irlomglbf.2= r=kl#*l""1"Mt-ff:"ostT Frvivize+ff:"ostT Fleft UT_DE)\8l""1"Mt.f UT_Dlffmc der( #num,radiu _: UT_DE)\8#* 3,yorulomglbohea. ward*n derpf (-1 kl#*l""1"Mt-ff:"ostT Frvivize+ff:"ostT Fleft UT_DE)\8l""1"Mt.f UT_Dlffmview( #num,radiu _: UT_DE)\8#*tBGR""a1mviewpf (-1 kl#*l""1"Mt-ff:"ostT Frvivize+ff:"ostT Fleft UT_DE)\8l""1"Mt.f UT_DlffmadjD y3th --s #"RAB_N _: UT_DE)\8radiu o= 40f.2= r=kl(sr_boidNumepf VIr4L:len(, folboids"": UT_DE)Imil hovo00V3th,0 = dn tavo00(_boidNum,radiu o""self.ca8:t *copyV3th,0 = dn tcopy(_boidNum,radiu o""self.ca8:t *c derV3th,0 = dn tc der(_boidNum,radiu o""self.ca8:t *viewV3th,0 = dn tview(_boidNum,radiu o""self.ca8:t *newV3th,0 = ("RAB_N r= 1*hovo00V3th,0 +#"RAB_N r1 1**copyV3th,0 +#"RAB_N r2 1**c derV3th,0 +#"RAB_N r3 1**viewV3th,0""self.ca8:t *sn tboids[boidNum].s y +=*newV3th,0"self.ca8:t *sn toldV3th,0[boidNum] =*newV3th,0" UT_Dlffmmove( _: UT_DE)\8""" M3,_nmboidsrmoveself.2= r= fdn tadjD y3th --s [1., 1., 1., 1.].=#fpf "RAB_N :hovo00,*copy,*c der,mviewpf (-1 kl(sr_boidopf dn tboids: UT_DE)\8:t *"oid.g+=ldn td: an FM*tmath.eMs(("oid.s y / 18.0M*tmath.pi) UT_DE)\8:t *"oid.yy=ldn td: an FM*tmath.sin(("oid.s y / 18.0M*tmath.pi) UT_DE)\8:t *if boid.g>ldn tt(,tf: UT_DE)\8:t *****boid.g(10"""# kl f:t *if boid.g< 0: UT_DE)\8:t *****boid.g(1dn tt(,tfo-x1"self.ca8:t *if boid.y>ldn t-s // __Imil hon!)\8:t *"oid.y(10"""# kl f:t *if boid.y< 0: UT_DE)\8:t *****boid.yTpdn t-s // yh1f.2= r= fdn tdr()f Boid: UT_D""" A_boidoself.2= lffmport V4L #xuxy,ouirtds sell'%(',0 = sel"1""1"""" *, folxtdsx UT_DE)\8, folyh, UT_DE)\8Truirtd="sel: UT_DE)\8:t *, foluirtds>Gf(rand.) *O360)f.2= r=kl[lsl: UT_DE)\8:t *, foluirtds>Gf(s y %O360)f.2= r=klif colortd="sel: UT_DE)\8:t *, fol%(',0 = >Gf(rand.) *O11)f.2= r=kl[lsl: UT_DE)\8:t *, fol%(',0 = %(',0" ifmpo__lb__td=""__N_0f__": UT_Dlffmask(msg_: UT_DE)\81""1"msgo""(ydgb2n):lf.2= r= fl""1"Mtdrortput 1; U'y'r UT_Difmask("Do you wan*e1"sas10boidsronoeMMO"oard?"): UT_DE)Imboard*= Board(800ux600)"""# kl f(sr_iepf VIr4L:3): UT_DE)\8:t *"oid*= Bo00(>Gf(rand.) *O"oard.)(and.) *O"oard.GRAB_N)) UT_DE)\8:t *"oard.addBo00(_boido)"""# kl fRE | Pf: UT_DE)\8:t *"oard.move() UT_DE)\8:t *#* _fd,.25_r20107 Gf.dgeneralca Gf.de. TTTTTTTTTTTTTTTTTTTTTTT5772TTT01665225344661154h"16063./ ""1[255]e0 mhTy_hannele "}; c BT84 // eV4L1HHt848 = v4lxV4L.i010064420107# CellulAutomCr# D.S. B randrand mathlog verandle=N"1.2GUI: UT_Dlffmport V4L #""1"" #"v4l .%(=oat_: UT_DE)\8(Tk>Gf.d Tk, Canvas, Topeeeeef.2= r= f, folt(,tfof.2= r=r="self c =dGRAB_Nf.2= r=kldn t"D pt(8o""1""f.2= r=kldn ta) v4Tk(""self.ca8dn ta) . Pyedr()f.2= r= f, folt(le=NTopeeeee()f.2= r= f, folt(l.wm_""1""(""1"")f.2= r= f, folcanvas1"""anvas:"selfn,"self.ca8:t *uC200 pcCCCCCCC "v4l =:"self *O2),"self.ca8:t *uC200 pcCCCCCCC %(=oat=:"selfGRAB_N *O2))f.2= r= f, folcanvas.pp(side ds'bottom',a["pOCS= "yess00anch,0 = "n","self.ca8:t *uC200 pcCCCCfillMMO'both')f.2= r= f, folt(l.w0fIo_topeeeee()o""1to%('('WM_DELETE_WINDOW',, folclos")f.2= r= f#, folcanvas.bind("",:dn ttc CgeS)f.2= r= f UT_Dlffmclos"(sn ": UT_DE)\8dn ta) .desroy("" UT_Dlffmdr(sn , la"_nleng): UT_DE)\81""1""Ddr3s:..","self.ca8Py hepf VIr4L:leng): UT_DE)\8.ca8Py wepf VIr4L:"self): UT_DE)\8:t *t *uif lat* -""[h][w]: UT_DE)\8:t *t *uC2 f, folcanvas.cC%AN6_y3thomglb(w*2, h*2, w*2+2, h*2+2l"self.ca8:t *uC200 pcCCCCCCC klllllllllllllllllllfillMMO"blp"""self.ca8:t *sn tt(l.= self_idletasks.)f.2= r=kl1""1""Done!lffm"oisson(_lambda): UT_D""" UT_DFunth --t neenerate Poissonmd: ributedrandvari4la_ betweeMt.oOCS UT_Diselt Vy* Pyexmean equalt nlambda UT_D""" UT_Dp(10"""# r(10"""# RE | Pf: UT_DE)\8p(1pyhlog(and.)u (c/ *t *uif (p< _lambda): UT_DDDDDDDDDy +=*1f.2= r= f[lsl: UT_DE)\8:t *"C%Ak"""# r""1"MtlffmdecimalToBinarySs33s:(valvi xbitWo;f128): UT_D""" UT_DAmdecimal*e1"binarytusaverf.d. R""1"Ms bitWopf a(as33s: UT_D""" UT_Dl""valMMO"" UT_D(sr_iepf VIr4L: xbitWo-tvi3-vi3-v): UT_DE)Imbi =dviEL(val / (2 ** i)) UT_DE)ImvalMMO(val % (2 ** i)) UT_DE)Iml""valM+ U"%d" %2bit"selferf(val ; U=)"""# r""1"Mt""valM lffmdecimalToBinary(valvi xbitWo;f128): UT_D""" UT_DAmdecimal*e1"binarytusaverf.d. R""1"Ms bitWopf a(liso. UT_D""" UT_Dl""valMMO[]f.2= (sr_iepf VIr4L: xbitWo-tvi3-vi3-v): UT_DE)Imbi =dviEL(val / (2 ** i)) UT_DE)ImvalMMO(val % (2 ** i)) UT_DE)Iml""val.nd(bi )"selferf(val ; U=)"""# r""1"Mt""vallffmbinarySs33s:ToDecimal(as3): UT_Dl""valMMO0f.2= (sr_iepf VIr4L:len(,s3)): UT_DDDDDvalMMOviEL(,s3[-(i=+x1)]) UT_DE)Iml""valM+ U(val * (2 ** i))"""# r""1"Mt""valM Mas33x: UT_Dlffmand( #"ias1"".5_: UT_DE)\8(sr_iepf VIr4L:sn t,): UT_DE)\8:t *, folu-""[0][i]tdsrand.)< "ias UT_Dlffmisplay( #rows1""-v):(c/ *t *uif rows1"""-v: UT_DE)\8.ca8Py iepf VIr4L:sn tGRAB_N): UT_DE)\8:t *:t *, foluisplayRow(i) UT_DE)\8:t *t *uif i=+x1xhsn tGRAB_N OCS, folu-""[i 1; U, folu-""[i=+x1]: UT_DE)\8:t *t *uC2 fr""1"Mf.2= r=kl[lsl: UT_DE)\8:t *, foluisplayRow(rows) UT_DlffmisplayRow( #row= 0_: UT_DE)\8s1""''_Imil honcn*=..0\8:t *kl1""1""%3d" %2row, UT_DE)\8(sr_iepf VIr4L:sn t,): UT_DE)\8:t *f:dn tu-""[row][i]: UT_DE)\8:t *:t *,M+ U'X' UT_DE)\8:t *[lsl: UT_DE)\8:t *****,M+ U'.' UT_DE)\8:t *f:dn tu-""[row][i]: UT_DE)\8:t *:t *cn*+=*1f.2= r= f1""1"s, "%.2f" % (%nN /hsn t,) UT_Dlffmens Vy( #row): UT_DE)\8cn*=..0\8:t *kl(sr_iepf VIr4L:sn t,): UT_DE)\8:t *f:dn tu-""[row][i]: UT_DE)\8:t *:t *cn*+=*1f.2= r= fl""1"Mt(%nN /hsn t,) UT_Dlffmlt V""self."tr):(c/ *t *uif .get(,s3)1; U.get("TT01"): UT_DE)\8:t *if (len(,s3)t!Tpsn t,): UT_DE)\8:t *r= flyf'ac"Im""1perLeng"f."tr UT_DE)\8.ca8Py iepf VIr4L:len(,s3)): UT_DDDDDDDDDDDDD, folu-""[0][i]tds(,s3[i 1; U'1'dgb2,s3[i 1; U'X')f.2= r=kl[lsl: UT_DE)\8:t *, follt V"decimalToBinarySs33s:(,s3,psn t,))f Rules(Mas33x): UT_Dlffmport V4L #radiu o= 3, e/fa* o= 2 #"ias1"".5_: UT_DE)\8sn tradiu o= radiu UT_DE)\8sn te/fa* o= e/fa* UT_DE)\8sn tso= (sn te/fa* o** (sn tradiu o* 2=+ 1))f.2= r= f, fol c =d1f.2= r= fdn t-""1""[0]f.2= r= fdn t-""r= 1; r= 1*hsn ts UT_DE)\8sn trand("ias) UT_Dlffmwatch(sn , la"_: UT_DE)\8sn tt(,tfolat*so UT_DE)\8lengolat*-s // yh1f.2= r= fdn tguitdsGUI("Pyro CA",lat*s,lat*-s // yh1)"""# kl f(sr_cepf VIr4L:nleng): UT_DE)\8r= fdn tly(la"_nc)f.2= r= fdn tguitdr(la"_nleng)f.2= r= fdn tguitt(l.N_0floo----dav4Dlffmaly(sn , la"_nc_: UT_DE)\8(sr_iepf VIr4L:lat*s): UT_DE)\8r= flat* -""[c+1][i]tds, folu-""[0][sn tso- UT_DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDlat*bitW2rupt(c, UT_DE)\8:t *uC200 pcC fffffffffffffffffffffffffffffffffffiyhsn tradiu , UT_DE)\8:t *uC200 pcC fffffffffffffffffffffffffffffffffffi+hsn tradiu )yhf]dav4Dlffmalyselfsn , la"_nleng1""-v):(c/ *t *uif leng1"""-v: UT_DE)\8.ca8lengolat*-s // yh1f.2= r= f(sr_cepf VIr4L:nleng): UT_DE)\8r= fdn tly(la"_nc)f.2= r= ft *uif lat* -""[c 1; Ulat* -""[c=+x1]: UT_DE)\8:t *t *ul""1"Mtc=+x1"self.ca8l""1"Mtlengf Lattf.cpMas33x): UT_Dlffmport V4L #so= 149 .%(=oato= 150 #"ias1"".5_: UT_DE)\8sn tso= s UT_DE)\8sn t c =dGRAB_Nf.2= r=kldn td-""1""[0]1*hsn tGRAB_Nf.2= r=klPy hepf VIr4L:"selfGRAB_N): UT_DE)\8:t *, folu-""[h 1; r= 1*hsn ts UT_DE)\8sn trand("ias) UT_Dlffmb V""self.row,m"o _: UT_DE)\8r""1"Mtdn tu-""[row][post%hsn ts] UT_Dlffmb VW2rupt("self.row,mTTTTt,aTTo-_: UT_DE)\8sum(10"""# kl fcn*=.\8:t *kl(sr_iepf VIr4L:stop, TTTTt-tvi3-v): UT_DE)\8:t *,um+=ldn tb V"row,mi)o* 2=** cn UT_DE)\8:t *cn*+=*1f.2= r= fl""1"Mt,um gklMMO'111110101111111111111 Gf.0TTTTTTTT1110101111111111111 Gf.0TTTTTTTT111010.0TTTTTTTT111010.0TTTTTTTT111010.0TTTTTTTT111010.0TTTTTT'" ifmpo__lb__td="'__N_0f__': UT_Days-dav4Dlffmpause(): UT_DE)\81""1""---PreENTERlt(continue---","self.ca8s _-TTd(l. INCe---dav4Drupts1""Rules() UT_Dl-""1""Lattf.cp)dav4Drupts.watch(Dl-""1--dav4Dl-""1""Lattf.cp)dav4Drupts1""Rules(radiu o= 1)dav4Drupts.lt V"110)dav4D1""1""Rule #110:lf.2= rupts.isplay()dav4D1""1""Rule #110malie. simglbobi on, W(,tfo%d:" % l-""ts UT_Dl-""tlt V""0"x))g-""ts) UT_Dl-""lu-""[0][g-""ts/2] =d1f.2= rupts.alyselfg-"") UT_Dl-""luisplay()dav4Drupts.watch(g-"") UT_Dpause()-dav4Dl-""trand(.1)dav4D1""1""A 10%%"Lattf.c, W(,tfo%d:" % l-""ts UT_Dl-""tuisplay(0) UT_Dpause()-dav4Dl-""trand(.5)dav4D1""1""A 50%%"Lattf.c, W(,tfo%d:" % l-""ts UT_Dl-""tuisplay(0) UT_Dpause()-UT_Ddav4Dl-""trand(.9)dav4D1""1""A 90%%"Lattf.c, W(,tfo%d:" % l-""ts UT_Dl-""tuisplay(0) UT_Dpause()-UT_Ddav4Drupts1""Rules() UT_Drupts.rand()dav4D1""1""A 50%%"RandRule set, W(,tfo%d:" % rupts.s UT_Drupts.isplay()dav4Dause()-UT_Ddav4Dl-""trand(.05)f.2= rupts.alyselfg-"") UT_D1""1""A 50%%"Rule alie. a 5%%"Lattf.c, Lattf.c W(,tfo%d:" % l-""ts UT_Dl-""tuisplay() UT_Dpause()-dav4Drupts.lt V"gkl) UT_D1""1""GKLRule set:lf.2= rupts.isplay()dav4Dause()-dav4D(sr_perc depf [ x/1.0MPy xepf VIr4L:10)]: UT_DE)\8l-""trand(perc d)f.2= r=kl1""1""GKLRule alie. a %d%%"Lattf.c, W(,tfo%d:" % (perc d *O100uxg-""ts) UT_Dr=kl1""1"rupts.alyselfg-"") UT_DUT_Dl-""tuisplay() UT_Dav4Dause()-UT_Ddav4Dl-""trand() UT_Drupts.rand()dav4D1""1""A 50%%"Rule alie. a 50%%"Lattf.c, Lattf.c W(,tfo%d:" % l-""ts UT_D#l-""luisplay()dav4Drupts.watch(g-"") r Gf.dgeneralgacash ie0 //=o *Vrsome *******5671TTT0214102454466 0t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777 general.caD* br_0fogaD* GACAGene(Gene): UT_Dlffmport V4L #**Ct _: UT_DE)\8Gene.port V4L #**Ct _ UT_Dav4DostdsCt ["os"]f.2= r=klpopSo= Ct ["opS"]f.2= r=kl"ias1""ost/ float(opS) #rand.rand.)f.2= r=kldn tgeno.get = []f.2= r=kl(sr_iepf VIr4L:Ct ['s' y: UT_DE)Imil hdn tgeno.get.nd(_rand.rand.)< "ias) GACA(GA): UT_Dlffmport V4L #cn #**Ct _: UT_DE)\8sn trupts1""Rules() UT_DE)\8sn tlattf.c ""Lattf.cp c =d500uxso= 100)f.2= r=klif Ct .has_key('estCases'y: UT_DE)Imil hdn testCaseso= Ct ['estCases']f.2= r=klGA.port V4L #Populaion(#cn #GACAGene #**Ct _ #**Ct _ UT_Dav4DDDDDDD UT_DlffmfitneFunth -- #genePo _: UT_DE)\8sn truptst-""r= 1; sn top.ltdividuals[genePo ]tgeno.get[:]f.2= r=kl"otalSteps*=.\8:t *kltT oS= 'complexity' # 'cory3th'dgb2'complexity' gb2'both'f.2= r=kl(sr_iepf VIr4L:0,hdn testCases):# UT_DE)Imil hdn tlattf.c.rand((i=+x(.11*hsn testCases))t/ float(sn testCases)) UT_DE)Imil hp(1poisson(149) UT_DE)Imil hp1""1""l hRunnsebe(sr_max ",m", "steps; completed(le=N","self.ca8:t *steps*=sn truptstalyselfsn tlattf.c,m") UT_DE)Imil hp1""1"steps, ";","self.ca8:t *iDens Vy*=sn tlattf.c.ens Vy(0) UT_DE)Imil hfinDens Vy*=sn tlattf.c.ens Vy(steps) UT_DE)Imil hp1""1""imens Vyo%.3fhfinmens Vyo%.3fh" % (iDens Vy,hfinDens Vy_ # UT_DE)Imil h#p1""1" UT_DE)Imil h#sn tlattf.c.isplay() UT_Dav4D:t *if*steps*< p: UT_DE)\8:t *t *uif tT oS== 'complexity': UT_DE)\8:t *t *uC2 finc0 = dteps UT_DE)\8:t *t *u[lf:tT oS== 'cory3th': UT_DE)\8:t *t *uC2 finc0 = 1 UT_DE)\8:t *t *u[lf:tT oS== 'both': UT_DE)\8:t *t *uC2 finc0 = 1*****+hsteps UT_DE)\8:t *t *u[lsl: UT_DE)\8:t *********lyf'acV/fa*Exc_To""Iigur00ffitne:tT oS:'%s'" %.tT oS UT_DE)\8:t *t *uif iDens Vy*< .5 OCSfinDens Vy*==..0: UT_DE)\8:t *********"otalSteps*+=finc0 UT_DE)\8:t *********p1""1""cory3th!" UT_DE)\8:t *t *u[lf:iDens Vy*>= .5 OCSfinDens Vy*==1.0: UT_DE)\8:t *********"otalSteps*+=finc0 UT_DE)\8:t *********p1""1""cory3th!" UT_DE)\8:t *t *u[lsl: UT_DE)\8:t *********p1""1""wrong""self.ca8:t *[lsl: UT_DE)\8:t *****p1""1""steps*>(1pwrong""self.ca81""1""Generat --: %d ltdividual #%S============== Total Fitne:%.3f" % (dn tgenerat -- #genePo ,*"otalSteps)"""# kl fl""1"Mt"otalSteps-dav4DlffmisDone(sn ": UT_DE)\81""1""Best:",:dn top.bestMember.fitne UT_DE)\8sn top.bestMember.isplay() UT_Dav4D#uif .get_s cory3th: UT_DE)\8#l""1"Mt(dn top.bestMember.fitne*==(sn testCases+h2))f.2= r= fl""1"Mt.f ifmpo__lb__td="'__N_0f__': UT_D1""1""----------------------------------------------------"dav4D1""1""RunnsebeGACA:8Genetf. Algorithm:on CellulAutom" UT_D1""1""----------------------------------------------------"dav4Dg"1""GACA(10ge[ltePerc d = .1uxso= 2=** 7, UT_DE)\8:t *uCmode ds'bit', estCaseso= 8, mutat --R-e==#.01uxcrossoverR-e==#.6, verbos"o= 1)dav4Dga.evolve() 77777777777777777777777777777777777777777777777777777777777777777777777 Gf.dgeneralipdsh ie0 //=o *Vrsome *******5045-o 0330273774466300t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# D.S. B # Emergen.c,mS1""gx2004 # Bryn Mawr College randrand 1pera, o ,*ays-dG_lb: UT_Dlffmport V4L #player1 #player2_: UT_DE)\8sn tplayer1(1player1 UT_DE)\8sn tplayer2(1player2-dav4Dlffmplay( #round _: UT_DE)\8sn tplayer1.port V4L ) UT_DE)\8sn tplayer2.port V4L ) UT_DE)\81""1""================================================""self.ca81""1" ) UT_DE)\81""======,aSadS0.2= r=7====,aSadS0op(E)\8sn tplayeslaye1o.get[:]f.2= playeslaye2UT_DE)\8sum(10"""# kl fcn*layer2-dav4Dlffmpn tplayer1.pOn| Pf: UT_DE)4L:sn tslaye1o> playeslaye2dav4Dlffmpn tplayer2P.2= r 1sn ": UT=====""self.ca81""1" ) UT_Dwins8:t *******, foluirtdslaye2U> playeslaye1dav4Dlffmpn tplayer2P.2= r 2sn ": UT======7====,aSadS0op(T_Dwins8:t *******, 1""1""wrong""selplayer2T enS0o!****p1""1""steps*P.2= r1:sn ": UT=====""getHis8sn top.beV""self.row,slaye1/+x(.11layer2-,luirtdslaye2/+x(.11layer2-DE)\8sn tplayO"Mt"otalSteps-dav4D1 UT_DE)\8=====""yselfg-"") UT_DU2 UT_DE)\8=====2"yselfg-"") UT_D_DE)\8=====""his8: UT_DE)I(p_Dlf2)l f, fololdV3th,8=====2"his8: UT_DE)I(p2Dlf1)l f, fololdpyhl_Dlf2)ln t"D "piCuif .get(,s3)1; sn tslaye1oE)\5 .get(,s3)1; sn tslaye2oE)\0t *******, folhl_Dlf2)ln t"C "piDuif .get(,s3)1; sn tslaye1oE)\0 .get(,s3)1; sn tslaye2oE)\5t *******, folhl_Dlf2)ln t"D "piDuif .get(,s3)1; sn tslaye1oE)\1 .get(,s3)1; sn tslaye2oE)\1t *******, folhl_Dlf2)ln t"C "piCuif .get(,s3)1; sn tslaye1oE)\3 .get(,s3)1; sn tslaye2oE)\3t *******, 1""1""wrong""selu[lsl:At --t nsl: UT_DE)\8:t *8===" P.2= rera, o ,*ays-d-dav4Dlffmplay( his8d.)f.2= rly desHis8s-dav4DlffmpalM+ U(vaduce(and.GRAM p(and. pair: pair _: + pair 1 +:IO,sn ": Uhis8BinarySs33AlwaysDef_ImiP.2= r.)< "iasplayer2(-dav4DlffmpalM+ U(iDunarySs33AlwaysCoandeiP.2= r.)< "iasplayer2(-dav4DlffmpalM+ U(iCunarySs33dP.2= riP.2= r.)< "iasplayer2(-dav4DlffmpalM+ U(iCDT_DE)\8:t *, folu2)]narySs33TitForTamiP.2= r.)< "iasplayer2(-dav4Dlffmpla"_nl( ": Uhis8B"?s1""wrong""selulM+ U(iCun *******, 1""1""wrong""selu""self.row,his8la 1 8=====t *u(AlwaysDef_Imi-,ldP.2= ri-,lAlwaysCoandei-,lTitForTamiBinalyf't *uosy3thnl("ls /home/*7777777") Rltr yo.insml""---'') f UT_DE)\ kllyf't"1""wr, "sel)_Imi.averpule set:la 50%enmloelfDiN_lRltr yo _: UTr yoiN_lr777 )xassmlspact, W(,te,(ssmlspactle setIPD UTssmlspact.IPDe set:=====t: UT_DE)IIPD()l f, fo 10"""# kl:=====t"1""wr,0""j# kl:=====t"1""wrrrrrgSimula1p(i, jDE)\8sn tplayergSim"yself50UT_DE)\8:t *an2.move("oard_r201077777777777777sdm77777777777 Gf.dgeneralipdsh i6124//=o 3653565e *******5671TTT0214102454466 0t848 = v4lxV4L.0100644rdArray rNu777ic randval ; 8:t *,Bits..","self.ca8PGRArS====dArray# UTDE)\: U)f.2= r= fdn u""selfGRArS=val ; 8nd3i=+xlf.ca8Pla"val.:n testCaca8Pla"val.>:n test1fdn u""self-1val ; 8nd2i=+xlf.ca8Pla"val.>:n test1fdn u""self-1varySs33Neuron:"1"Mtdn tboays-dG_GRArS=.2= r= f UT_DlffmRArS====GRArS=va"Mtdn tUT_DE)\8G_otherARArS=.2= r= f UTx #u777ic.logical_x (_DlffmRArS=G_otherARArS=.= r= f UT_ow,mTvaduce( and.GRAM xh,0 +#"RAB_N_DE)\8:t *cn"Mtdn t_Dl_Imil hoG_otherARArS=, thrShold-dav4DlffmpalM+ U(s.2= r=kDE)\8otherARArS=.T_DEthrShold #lulAutom" UT_D1""1""-------------------------------------varySs33HardLocwrong""1"Mtdn tboays-dG_GRArS=E)\8:t,tfoL1f.2= r= f(sr_ce_DlffmRArS=Decode #euron(8:t *,Bits.GRArS=E)\8:tCCC %(=oat=:"selfayet==t *u#u777ic.zeros(foL1f.2= cn"Mtdn t_Dl_Imil hoG_aRArS=, thrShold-dav4DlffmpalM+ U(s.2= mRArS=Decode ._Dl_ImiaRArS=, thrShold-va"Mtdn tUT_DE)\8G_GRArS=.2= r= f UTalM+ U(s.2= mRArS=Decode .UT_DE)\8GRArS=. #lulAutom" UT_D1""1""-------------------------------------varySs33SDM""1"Mtdn tboays-dG_GRArS=E)\8:t': UT_D,tfoL1f.2=': UTffffffffffffiyhsn mem8Sc ""Lattf0, thrShold fmport V=#.01uxcro0 r= f(sr_ce_Dlff=#.01uxcro=#.01uxav4Dlffmpla"=#.01ux:""steps*C\8:tD.S.SDM):= f(sr_ce_DlffmRArS=L1f.2=': mRArS=L1f.2== f(sr_ce_DlfffoL1f.2=': foL1f.2== f(sr_ce_Dlffmem8Sc ""Lamem8Sc "av4Dlffmpla"thrShold fy %O360)f.2= r=klif colorthrShold fmmRArS=L1f.2='/ utlomglboCdgb2,s3[i 1; U'X')f.2= thrShold fmthrShold f(sr_ce_Dlffmem8d.HardLocwrong(GRArS=E)\8:t,tfoL1f.2= 3th!" UT_DE)\8:t *t * UT_D""" UT_Dl""vaem8Sc "tS--e=+x1)la"=#.01ux:""steps*as.= self.)f.2= _Dl_Imil hoG_aRArS=, thrShold #xuxy,ouirtds sla"thrShold fy %O360 thrShold f.2= thrSholdf: UT_DE)4L:sn t=#.01ux:""steps*thrShold fa*Exc_hrShold,= r= f UTalMf VIr4p(and. m:3HardLocwrong._Dl_ImimG_aRArS=, thrShold-ffffffffffffiyhsn tra_Dlffmem80 +#"RAB_N_DE)\8:erf(vaf.)f.2= nue-il hoG_aRArS=, thrShold #xuxy,ouirtds sla"sn t=#.01ux:""steps*Rue-athself.2= r= f1""1""Dd_Dl_Imi_aRArS=, thrShold-.2= r= ffayett *u#u777ic.zeros(e_DlfffoL1f.2=DE)Imboard*= Board(800ux6_nl( r_iepf VIr4L:len(, s_DE)\8:t *f:dn tu-""ayett -tvi3-vmem8 fayet==touirtds sla"sn t=#.01ux:""steps*ds.= se+#"RAB_N_DE)\8:[8nd3ix)av4D(sr_pe"ayett""1"Mtdn twriteil hoG_aRArS=, fo, thrShold #xuxy,ouirtds sla"sn t=#.01ux:""steps*Writath", fo,.2= r= f1""1""Dd_Dl_Imi_aRArS=, thrShold-.2= r= f*= Board(800ux6_nl( r_iepf VIr4L:len(, s_DE)\8:t *f:dn tu-"vi3-vmem8 fayet==t -tfoouirtds sla"sn t=#.01ux:""steps*ds.= se+#"RAB_N_DE)\8:"ok:t *********p1""1"a"Mtdn tUT_DE)\8G_GRArS=.2= r= f UTalMf VIr4p(and. m:3HardLocwrong.UT_DE)\8mG_aRArS=-ffffffffffffiyhsn tra_Dlffmem80 +#"RAB_N_DE)\8:erf(vaes+h2))f.2= r= fl""1"Mt.f iN_lRdw,mTSDM(=#.01uxcrossoverRraUT_DE)\8:Bits.sdm7GRArS=E)\8:tCoverRinDensdm7UT_DE)\8raCoverRinDensdm7_Dl_Imir.05)f.2= ruptsdm7nue-ir.05)f.2= ruptsdm7writeiraM p(8nd2,_DE)\8:Bits.sdm7foL1f.2=D)05)f.2= ruptsdm7nue-ir.0501006447777777ometryoon!2;}0 mhTyg Gf.dgeneralrobocupP_SOURCE__ \$(PYWARN_ INCLU) LIBS= -lstdc++ -ld % pth f/a VieMMO.o:: VieMMO.ieMMO.h \$(CC) $372CPPFLA) -o 0735723e. T13154 h"1m431 *~ 848:ean-W :: \$(RM) * th * o/ /t848 = v4lx047777777ometryo11111111111111 Gf.dgeneralf/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTT721TTT03220465344666134h"16063./ ""1[255]e0 mhTy_hannele "}; c BT84 // eV4L1HHt848 = v4lxV4L.i0100644# boid1*ou w77ometry code. Itid1*all R^3. # All v tolds/poiett aresavers w/ 3Cdge [x,y,z] # AffCCCCv tolds arestupf't likx:"([x,y,z],[i,j,k]) # -:t *then - randTOLERANCEestCie1 PIOVER= r==ath.sin( an FM* DEG90RADS Vy( 5tmath.sin( COSDEG90RADS Vy*"oid.g+DEG90RADS((i=ttf0M* SINDEG90RADS Vy*"oid.yyDEG90RADS((i=ttf0M* n tUT_DE)\8dr()f UT_Dlffmd: #x-i3,ocux2y2_: UT_DE)\8l": UT_DE)\8ltmath.sqrt(o{math.sqrt() n tC2 f,Add(C2 f,, fe "refmd: #x-i3((C2 f,ltmfe "refltm720d.s y + #nupT_DE)ve,ard(800ux 0-y + n tC2 f,ECS U(C2 f,1,tC2 f,2% (dler =dGRAB5fmd: #x-i3abs((C2 f,1ltm720d.- (C2 f,2ltm720d.get(dler =dG Polareran tboays-dG_ds Vy( G_dr Vy( G_bIsPolarcross2= r= f folhbIsPolar_iepf VIr4L:f.2= t': ftepf VIr4L:f.2= _: UTalyselcross2= r= f folhbh 2s00u-i3r= f _.() UTr= selcross2= *drIr4L:"selfGRAB_N): UT_DE)\8:t *fgb2wepf VIr4L:"self): UT_DE)\8:t *t *udn twe"\8mG_ef.2Gdrtesia-""r= 1;dx1;dyolhbh 2s0_N): UT_DE)\8:t *fgb2y,dx) L:"self): UT_DE)\8:t x*dpcCdy*dDM(=#.01u_D1""1""--cross2= " M3folhbIsPolar_iepf VIr4L:fltmolhbh 2s0_N): "1""""kldn dhbh 2s0_N): f.2= r=kaC2 f,1r(Polarera[0,0,0]nth --t nt(Polarera[0,0,0]nth --PPt nt(aPolarera"("8:t *r(eno. f,1" ,"8:t *r(en1. f,1" ,"8:t *r(en2])+")unth --a- Vr(Polarera(t nt(,r(0d.s y sub(a,bPoclffmRr(PocIPD UTeno.-bs UT_cayerUTen1.-bs1 UT_ca2erUTen2.-bs2]Polareracd.s y i""" se(aPoclffmRr(PocIPD UT-as UT_cayerUT-as1 UT_ca2erUT-as2]Polareracd.s y a#nup,bPoclffmRr(PocIPD UTeno.+bs UT_cayerUTen1.+bs1 UT_ca2erUTen2.+bs2]Polareracd.s y mi1; Up,bPo"az] #selfg4L:z] #m149 . "Poclfft nt(im"yself5x)Imil hdn t.) *O"oard.c[xerUTe*b[xePolareracd.s y dotUp,b folm=.) *O"oapf VIr4L:stoelf5x)Imil hdn tolmt *kl(sr_iepf VIrDE)\8Tenx]*b[xePolareraU(s.2roy(".evoup,bPoclffmRr(PoPocIPD UTen1]*b[2er-Ten2.*bs1 UT_ca1erUTen2.*bsr-Ten0]*b[2e UT_ca2erUTen0.*bs1r-Ten1.*bsPolareracd.s y norm(aPolareraUT_DE)\8:t otUp,a0d.s y normou evUp,folmrUT.) *O"oablffmRr(Poyhsnnorm(aL:stoelf5x)Imil hdn tolmt *kl(sr_ieb[xerUTe[xe/lPolarerabC2 f,1ltm72up,b=[1,0,0]t *kl(sraM p"ltm72CCCC4L:PolareraUT_DEaM* otUnormou evUp),normou evUb)0d.s y _bIsqup,bPoil hn a-b) > h.sin( COtom" UT_D1""10Polarera1 T_DETheDE)dTOhr yo8:"oR fuptst-s a#ned by Muhamm:"oseS Vyary S FM* DEG ERAaDE)ree-ir.TOhrm, optim ever wm, or I don't knowEG do sCdgehing T_DE.s y i"8:"oRSegSeg(Ar4LA2ltBr4LBalysel=(sn ti"8:"oR?, Dwriteiri"8:"oR?z] #0aUTfol5 it y** (sn #Desavers iri"8:"oR0UT_ft (sn ti"8LA2d) = iri"8:"oRL- egSeg(Ar4LA2ltBr4LB (sn ti"82A2d) = iri"8:"oRL- egSeltBr4LAr4(Ar4Lca8Pla"val.> ti"8Ltmfti"82A2d)_DE.s y i"8:"oRL- egSe L(Ar LLArS(ArSLBalysLoid.gp ( #selfgLattf.c.L1id.gp ( #selfgLLca8PlaSoid.gp ( #selfgSattf.c.S1id.gp ( #selfgSLca8Plael=(sn ti"8:"oR?, Dwriteiri"8:"oR?z] #0aUTfol5 it y** (sn #Desavers iri"8:"oR0UT_ft (sn t *kl(sraM L(ArLLArS(ArSLPo((S0ocIPD=rSL(eno.****(S0o1IPD=rSL(en1we onlycross:""sl 1""LsOtom" UT_D1":n[1,0,0Po((L0ocIPD=rLL(eno.****(L0o1IPD=rLL(en1Otom" UT_D1":n[1,0,0nL* UT-(LL(enowEL0o1I),rLL(enowEL0o0]s#nL* UTLL(enowEL0o0], LL(enowEL0o1I p(and: [rSL(enowES0o0], SL(enowES0o1I p(an= f- otL,dS,UT_Dp(aPo(y _bIsnd,01Otom" UT_D1":n[2A20,0dLd: [S0ocIPwEL0o0], S0o1IPwEL0o1I p(at *kl(sraM nLt *kl(sraM dSt *kl(sraM dLSt *klr= f otL,dLS,UT_ UTambda UPo(y-s /Otom" UT_D1":n[ UT_D]_Dp(aPo(yb) 1Otom" UT_D1":n[ UTD]_Dp(a===t[n S.)< S0o0], n S1)< S0o1I p(at *kld=""W": UT_D)l": UT_DE)\8lt2evUpp,bPocly sub(a,t *kld=""W":f oc,c) ]nth --l2car_ds ","self.ca#2dPolarera(i=ttf0M*ds )*lSc "tS- #x-i3ds )*lSc "tS-0,0]nth roux10(ffm,2ltmca#2dcrosltm==/Otom" UT_D1"ffmcrossnnorffmf.ro/ #cepf VIo f,1?z] !Otom" UT_D1"ffm(sraM roux10",ffm,2ltmPolarer--l2car_ds lerffmf. = , ,:f offm,2ffmffmask(msg_: UT_DE)----------------------aUT_DE)\8_max ",x1id.b=[1,0,ax ",x_Dlf[ U1,0,ax ",x3Dlf[ U U1,ax ",a id.b=[1U1,ax ",b id.b-=[1U2]Dp(aPoUTf y _bIsqs lerath #x,S Vy*"o/T_DE)\8sn tsraM p"ltm?z]brokM* ",qs lerath #x," irstrupo f",S Vy*"o/TE)\8sn tPoy(".evath #xac"Ix3DE)\8sn tsraM y(".e?z]brokM*thrShosraM y i"8:"oRSegSe[1,0,,[2A2,,[2A0,,[0A2,ui) LIBS= -lstdc++ -ld % pth f/a VieMMO.o:: VieMMO.ieMMO.h \$(CC) $372CPPFLA) ------o 0735723e. T13154 h"1m431 *~ 848:ean-124661422-12314 * o/ /t848 = v4lx04ui)3Dca8Pl) LIBS= -lstdc++ -ld % pth f/a VieMMO.o:: VieMMO.ieMMO.h \$(CC) $372CPPFLAo 0735723e. T13154 h"1m431 *~ 848:ean-W :: \$(RM) *570 * o/ /t848 = v4lx04ui)Cu8:" Gf.de. TTTTTTTTTTTTTTTTTTTTTTTT721T1TTT03220465344666134h"16063./ 01756064667056261hanne54 "}; c BT84 // eV4L1HHt848 = v4lxV4L.i0100644br_0foguiDlffmport lffmporcu8:" #lffmporcu8:".wrwrrrr--cross2Cu8:"(guing""selulM+)1; U.getsn t c =dGRAtds[lsl:cu8:".)1; s[l,8=====2"hicu8:".noecho,8=====2"hicu8:".carySs,8=====2"his8Atds[l.keypad(UT_DE)\8r= beg---uirt20 ; beg--- * U7_DE)\8r= Ct .has_ ; at*-s //4fmpn tplayer1._""1""cu8:".new_""(" A boar beg--- beg---xpf VIr4L:"sm:3HardLocruia-""r= commt *uC2[]sn t c =dGRG_f: UT_DE)4L:s)u (c/yet=commt *)G_f VIr4L:"smhosraM commt *o0],f VIr4L:"smhofffffiyhcommt *o0]f VIr4L:"smhot"D "processCommt *(fffffi"=#.01ux:""stecommt *uC2commt *o1 oS= 'com)u (c/ =dGRG_f?z]UTf (T_Dwins8:t ***s8Atds[l.add:t * """# k> asks.)f.2= r=kl1""1Atds[l.ref:t *8:t *t *uif tT cu8:".echo,8 *t *uif tT # Enxmeanecho_Dlfo fcharac3ix)av4D(sr_psmhofffffiyh1""1Atds[l.get:t *:t *t *uif tT cu8:".noecho,8=====2"hic =dGRG_f: t"D "processCommt *(fffffi"=:3HardLoctT FnupU.getsn t c #cu8:".noarySs,8; cu8:".keypad(0DDDDDy +=*1cu8:".echo,8DDDy +=*1cu8:".end_""(ui)TK Gf.de. TTTTTTTTTTTTTTTTTTTTTTTT721T1TTTTTTT03220465344666134h"16063./ 55) *an-124661422-1321t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777, folt(,tiboids:time #br_0foguiDlffmport lffmporr_0foguilat*get:.TKat*get:t:==TKat*get:#br_0fo tem.port V4L GACAGene(Geepf- lffmport lffmporr_0fo temt:== tem lffmporr_0fo tem.shE)d:== hE)dGACAGenosixpGUI: UT_ex([x,GACAGene(Getools.jo tickGUI: UT_Jo tick *the=TK gui--cross2Jo tickDripor(Jo tick)3folhbIsPolar_iepf VIr4robottmolhbh 2s0_N)robotrRinobotolhbh 2Jo tickAGene #**Ct _)3folhbIsdsrmovess:translate, roux10tmolhbh 2s0_N)robottranslate, roux10tM+ U(iCunskDiada):TKat*get:.AlertDiada))3folhbIsPolar_iepf VIr4roTfoldicttmolhbh 2TKat*get:.AlertDiada)pf VIr4roTfdx) L:"selfdictr= fict3folhbIsSetupDiada)pf VItmolhbh 2TKat*get:.AlertDiada).SetupDiada)pf VItx) L:"selfbitmap['bitmap'[xer'warul'x) L:"selfsr_ceeButton("Y pcCelfOk8s _-ed)x) L:"selfsr_ceeButton("NocCelfC\8ltl8s _-ed)x dgb2n):lroTfoldicttmolhbbouirtnskDiada):roTfoldictt": UhisKgui(,tiboid.(""1"")f, guing 3folhbIsPolar_iepf VIr4epf- tmolhbh 2Ttiboid.(""1"")fAGene #**Ct _ # hE)dogui)x) L:"sguilGene #**Ct _ #'TK gui', {}r4epf- tx) L:"selfgen"([xf: UT_DE)4Lelffre("oarTtiboid.Fre("pf VItx) L:"selffre("s00anch,0 = "n","self.ca8:t *uC200 pcCCCCfillMMO'both')f.2= r= f, folt(l.wo_topeeeee()o""1to%('yer1._""dowBe): f: UT_DE)4LelfUhitRu f: UT_DE)4LelfUhittimef: UT_DE)4Lelfne!lfboidffiyhT03T_DE)4Lelfne!lfboidffi_detaiiyhT.UT_DE)4LelfUhitButtonUe!f: UT_DE)4LelfmaxBufferorthrS5T_DE)#5Tkfcharac3ix)5x)Ibufferth')f.2= r= f, folt(l.wwwwwwwwwwww#seUT_DErandT_D""" ArS=L1f#CoandTOhguiD:t uct_DE)ldn sCdgehi n00)firstrupo fpython rS=L1fmenuuC2[('F (c',[['New ne): U..'CelfnewBe): ]ffffffffffffffffffffffffi#.01ufffffffffffffffffffffffi['Edioanind("'CelfCommt *_Dl""vKey)T_DE)4LAB_N)commt *Endge.b""d(''CelfCommt *Prev0ousKey)T_DE)4LAB_N)commt *Endge.b""d(''CelfCommt *NextKey)T_DE)4LAB_N)commt *Endge.b""d(''CelfCommt *Prev0ousKey)T_DE)4LAB_N)commt *Endge.b""d(''CelfCommt *NextKey)T_DE)4LAB_N)commt *Endge["PD(ief"[xer"rt*ge"T_DE)4LAB_N)commt *Endge.00anc{'a8:t *':'y)s'C'h,0 ':'","self.c'o_to':'x'}sks.)f.2AB_N)commt *Fre("s00anc{'a8:t *':'),',G'h,0 ':'","self.c'o_to':'x'}sks.)f.2# G_GRArS=E)\8:t': UT_D,tfos.)f.2e"\8mG_edlermil honcnRtemmolhbh 2 t, ()l , ()l it,Gedioit,Gviewio=Rtemolhbh 2 empfre("oarTtiboid.Fre("pf VIfre(")T_DE)4L(dn to= 1**utton'r4L:"selfGRAB_N)buttonA)da[()l ]_: Ttiboid.Button(tempfre(",utextD= ()l ,ro0 r= f(sr_ce_Dlfffffffffffffffffffffffffffffffffat*-s //, UTcommt *uC2()l it,ro0 r= f(sr_ce_Dlfffffffffffffffffffffffffffffffffsux10='disxmeadupf VIr4L:"selftextA)da[()l ]_: Ttiboid.Button(tempfre(",ucommt *=edioit,Gjustify="rts".csux10='disxmeadupf VIr4L:"sold iewiT_Dwins8:t ***s8buttonA)da["ViewL ,"8()l ]_: Ttiboid.Button(tempfre(",utextD= "Viewboth')f.2= r= f, folt(l.wfffffffffffffffffffffffffffat*-s //, UTcommt *uC2 iewi,ro0 r= f(sr_ce_Dlfffffffffffffffffffffffffffffffffsux10='disxmeadupf VIr4L:"s***s8buttonA)da["ViewL ,"8()l ]s00anch,0 =Ttiboid.RIGHT,wo_topee"),ne".ca8:t *uC20noaCCCCfil="nasks.)f.2,s3)1 to= 1*sux1u'r4L:"selfGRAB_N)buttonA)da[()l ]_: Ttiboid.Label(tempfre(",uat*-s //, UTtextD= ()l pf VIr4L:"selftextA)da[()l ]_: Ttiboid.Label(tempfre(",ujustify="leftasks.)f.2AB_N)buttonA)da[()l ]s00anch,0 =Ttiboid.LEFT,wo_topee"),ne".ca8:t *uC20noaCCCCfil="nasks.)f.2elftextA)da[()l ]s00anch,0 =Ttiboid.RIGHT,wo_to="x".ca8:t *uC200 pcCCCCfil="nasks.)f.2tempfre("s00anch,0 = ""W',".cCCCfillMMOpcCo_tolMMOx*we"\8mG_erediMembToW""dow(f VItmolhbh 2# save r= les() Uout, les() Uerrks.)f.2elfles) Uout r_ies() Uoutks.)f.2ees() Uout r_iepf2# hasfaenue-ir)ns Vy*< .5 OCSelfles) UeDlff r_ies() Uerrks.)f.2ees() Uerr r_iepf2# hasfaenue-ir)ns Vy*< "\8mG_erediMembToTerm****(f VItmolhbh 2# save r= les() Uout, les() Uerrks.)f.2ees() Uout r_iepfles) Uoutks.)f.2ees() Uerr r_iepfles) UeDlff "\8mG_ef't"Be): W""dow(f VItmolhbh 2dger4L:"selfGRAB_N)be): U_""dow)sux12= r 1sn excepT_Dwins8:t ""1"a"Mtepf- : UT_DE)\epf- )be): T_Dwins8:t ***s8epf- )be): dlerW""dowpwe"\8mG_eredrawW""dowBe): (f VItmolhbh 2dger4L:"selfGRAB_N)epf- )be): redraw(pf VIr4L:"selfUhitRu f: AB_N)epf- )be): UhitRu r 1sn excepT_Dwins8:t paay() UT_Dav 3folhbIsfhitUe!(f VItmolhbh 2_aRArne!lfboidffiyhT03T"\8mG_edediumUe!(f VItmolhbh 2_aRArne!lfboidffiyh333e"\8mG_elowUe!(f VItmolhbh 2_aRArne!lfboidffiyhT033T"\8mG_eue!(f VItm2# FIX:or I don'dgehktt aredoesfanydgehinns8:t paay("\8mG_etemppf VItmolhbh 2""1"a"Mtepf- !ow,his8la""1"a"Mtepf- )robotr!ow,his8la 1 AB_N)epf- )robot.ue!(we"\8mG_eCommt *Prev0ousKeypf VIr4ev molhbh 2""1"a"MtysCoand__ft er V"r <="wrong""selu""self.: UT_DE)\ysCoand__ft er V"r >ow,his8la_DE)\ysCoand__ft er VpiCuif .get(,AB_N)commt *Endge.de trnmloeendupf VIr4L:"selfcommt *Endge.a 50%enmlo_DE)\ysCoand[_DE)\ysCoand__ft er]sks.)f.2,srIr4L:"selfGR======'No mandcommt *s!f.cchr(7we"\8mG_eCommt *NextKeypf VIr4ev molhbh 2AB_N)commt *Endge.de trnmloeendupf VIr4L""1"a"MtysCoand__ft er +"r <="wrong""selu""self.: UT_DE)\ysCoand__ft er +"r >ow,his8la_DE)\ysCoand__ft er "piCuif .get(,""1"a"MtysCoand__ft er <="wrong""selu""self.- (T_Dwins8:t ***s8commt *Endge.a 50%enmlo_DE)\ysCoand[_DE)\ysCoand__ft er]sks.)f.2,srIr4L:"selfGR======'No mandcommt *s!f.cchr(7we"\8mG_eCommt *_Dl""vKeypf VIr4ev molhbh 2ACAGe777 ng\81""1""77 )olhbh 2commt *uC2777 )xs8commt *Endge.ge'') flhbh 2AB_N)commt *Endge.de trnmloeendupf VIr4LAB_N)addCommt *air: paicommt *)f VIr4LG_f: t"D "processCommt *(commt *)f VIr4LifLG_his8la_DE)\tT FnupUsks.)f.2#s8commt *Endge.a 50%enmloo_t ersks.)f.2#s8commt *Button.fUhihUsks.)f.2#s8Ue!Lir:Box)s()T"\8mG_ejo tick(f VItmolhbh 2_aRArjo _""1""Jo tickDripor(AB_N)epf- )robot)T"\8mG_eabouo(f VItmolhbh 2_aRArrediMembToTerm****(pf VIr4LA tem.abouo(sks.)f.2AB_N)rediMembToW""dow(sk"\8mG_ehelp(f VItmolhbh 2_aRArrediMembToTerm****(pf VIr4LA tem.help(pf VIr4LA tem.u-age(sks.)f.2AB_N)rediMembToW""dow(sk"\8mG_eedioanpf VItmolhbh 2"ay# UTsf VIr4LifLos.getenv("EDITOR*******, 1""1os.A tem(os.getenv("EDITOR**. f,1&"sks.)f.2,srIr4L:"selfGRos.A tem("emacs1&"sks.)d.s yewBe): (f VItmolhbh 2"ay# UTsf VIr4L3-vmem8 fa1,ases'r4L:"selfGRmyiN_l"~/MyBe): %i.ave % iuif .get(,""1UTf ex([x,(myiN_ -tfoouirtdsarySsolhbh 2os.A tem( "cpL ,"8os.getenv("PYRO**. f("/build/be): Template.av %sImimmyiN_ )f VIr4LifLos.getenv("EDITOR*******, 1""1os.A tem(os.getenv("EDITOR**. f,1%s1&"mimmyiN_ ks.)f.2,srIr4L:"selfGRos.A tem("emacs1%s1&"mmimmyiN_ ks.)mG_eedioBe): (f VItmolhbh 2"ay# UTsf VIr4LifLos.getenv("EDITOR*******, 1""1os.A tem(os.getenv("EDITOR**. f,1 ,"8:B_N)epf- )be): iN_l f,&"sks.)f.2,srIr4L:"selfGRos.A tem("emacs1 ,"8:B_N)epf- )be): iN_l f,&"sks.)mG_eedioWorld(f VItmolhbh 2"ay# UTsf VIr4LifLos.getenv("EDITOR*******, 1""1os.A tem(os.getenv("EDITOR**. f,1 ,"8:B_N)epf- )worldiN_l f,&"sks.)f.2,srIr4L:"selfGRos.A tem("emacs1 ,"8:B_N)epf- )worldiN_l f,&"sks.)mG_eedioRobot(f VItmolhbh 2"ay# UTsf VIr4LifLos.getenv("EDITOR*******, 1""1os.A tem(os.getenv("EDITOR**. f,1 ,"8:B_N)epf- )robotiN_l f,&"sks.)f.2,srIr4L:"selfGRos.A tem("emacs1 ,"8:B_N)epf- )robotiN_l f,&"sks.)nd. Ue!(f VItmolhbh 2#olhbh 2# Thp.besnt): avers NDrmer esntk]) #ofvers )u (c/UTf :B_N)G_h loopmolhbh 2# rrunUsks.)f.2#ks.)f.2 kno=:time.time(f.ca8:t *needToUe!Stf: Cuif .gedger*needToUe!Stf: AB_N)epf- )be): needToStopr 1sn excepT paay() UT_D""1UeedToUe!Str4L:"selfGR#dger4L:"selfGR3)1 t(AB_N)epf- )robot)r!ow t(1)T_Dwins8:t ***s8epf- )robot.ue!(weL:"selfGR#excepT paay() UT_DAB_N)redrawW""dowBe): (sks.)f.2# G_GRArS=E)\8:t':olhbh 2""1"a"Mtepf- )robotr!ow,his8la""1"a"Mtepf- )robot.ge'''/robot/suxll ['estCases']f.buml hR"[STALL!]f VIr4p(a8d.HardLocwrong(buml hR'tCases):#2elftextA)da['PtUT_'].cf UT_(textD= "X:o%4.2f Y:o%4.2f Th:o%4.0f %sI\HardLocwrong((((((((((((((((((((((((((((eps)"""#epf- )robot.ge'''robot',G'x'at=:"selfGRAB_N *O2))f.2= r==================)"""#epf- )robot.ge'''robot',G'y'at=:"selfGRAB_N *O2))f.2= r==================)"""#epf- )robot.ge'''robot',G'()o"t=:"selfGRAB_N *O2))f.2= r==================bumlE)Imil hp1""3-vmdev00)fin2s0_N)epf- )robot.getDev00)s()-tfoouirtds slaB_N)epf- )robot.getDev00)(dev00)).getVisible()-tfoouirtds===)"""#epf- )robot.ge'Dev00)(dev00)).ue!W""dow(sks.)f.2# D don'UeedT_DEdovers ross:ofver?z]bus:o"""ka=)"cf d() UT_D""1UknowEelfUhitButtonUe!f< 1r4L:"selfGRAB_N)aftor(AB_N)ne!lfboidffind("1"a"MtmaxBufferorth.HardLocwrong(fGRAB_N)sux1u.cf UT_(sux10='),norm'pf VIr4L:"sng(fGRAB_N)sux1u.de trn1.mlo #sel(yetTextD-1"a"MtmaxBufferorth)pf VIr4L:"sng(fGRAB_N)sux1u.cf UT_(sux10='disxmeadupf VIr4L:"sr4L:"selfsux1u.see(eendupf VIr4LexcepT_Dwins8:t ""1echo_DE)\8RtemolhbmG_eilu *8f VItmolhbh 2saay("\8mG_edlerMenu(AB_N, b= , ne(",ucommt *rS=-fffff""" Assum _*s8menuButton( ex([x,f"""=-fffffmenuuC2Ttiboid.Menubutton(b= ,text=ne(",under1""L=0 r4L:"selfmenuButton([ne("[xermenuT_DE)4Lmenus00anch,0 =Ttiboid.LEFT,padx="2m"sks.)f.2menusiN_menuuC2Ttiboid.Menu(menu)T_DE)4Lndcmdxy,ouimmt *rT_Dwins8:t ""1cmd.HardLocwrong(menusiN_menu)add_uimmt *(label=cmd*bs,commt *=cmd*bspf VIr4L:"s8d.HardLocwrong(menusiN_menu)add_separaRr(g(menu['menu'[xermenusiN_menu r4L:"sfffds smenu "\8mG_eWIspfmRf VItmolhbh 2lffmporr_0foguilWIspfmR:==IIspfmRolhbh 2lffmporr_0fo tem.shE)d:== hE)dGr4L:"sehE)dobe): f: AB_N)epf- )be): Gr4L:"sehE)dorobotrRiAB_N)epf- )robotGr4L:"sehE)doepf- RiAB_N)epf- olhbh 2lIspfmR==IIspfmR.IIspfmRG('shE)dobe): ',G'hhE)dorobot',G'hhE)doepf- ')sk"\8mG_etT FrM _-ages(f VItmolhbh 2_aRArsux1u.cf UT_(sux10='),norm'pf VIr4LAB_N)sux1u.de trn1.mloeendupf VIr4LAB_N)sux1u.cf UT_(sux10='disxmeadupf VIr4Lelfsux1u.see(eendupf"\8mG_eiN_savediada)pf VIr4iN_ t, sk)f, tdir hR'tmolhbh 2ACAGe777 ng\81""1"replUT_DE)II 2"ay# Une(Golhbh 2ACAGeos2"ay# U. pcwd, getenv.cchdir r4L:"sfffffiyh"f VIr4cwdyh. pcwd(pf VIr4L""1"tdir hhR'tT_Dwins8:t chdir(ne(Gene(Gdir(*. f,/plugins/ ,"8iN_ tsks.)f.2,srIr4L:"selfGRchdir("tdir)f VIr4L_: TKat*get:.SaveF (cDiada)pf VIr4"Load ,"8iN_ t, sk)f,HardLocwrong((((((((((((((((((((((((ne(Gene(Gdir(*. f,/plugins/ ,"8iN_ tsks.)f.2dger4L:"selfGRifL.Show(p hhR(T_Dwins8:t ***docyhd.GetF (cNe("ppf VIr4L:"s***d.Diada)CT FnupUsks.)f.2selfGRfffffiyhdoc VIr4p(a8d.HardLocwrong(d.Diada)CT FnupUsks.)f.2excepT_Dwins8:t # doumea-clickGbug. Whatehorldwe do?ArS=.2= 2docyhd.GetF (cNe("ppf VIr4L:"sd.Diada)CT FnupUsks.)f.2selfffffiyhdoc VIr4chdir(cwd) r4L:"sfffds sla"sn t=#.mG_edisconn"oRRobotpf VItmolhbh 2""1"a"Mtepf- )robotr!ow,his8la"a"Mtepf- )robotrdisconn"oR(sks.)f.2,srIr4L:"selfGRays-d ValueEDlffr4"sd2,_D=robot8irst"L:"selfGRk"\8mG_etonn"oRRobotpf VItmolhbh 2""1"a"Mtepf- )robotr!ow,his8la"a"Mtepf- )robotrconn"oR(sks.)f.2,srIr4L:"selfGRays-d ValueEDlffr4"sd2,_D=robot8irst"k"\8mG_eenxmeaMopf VItmolhbh 2""1"a"Mtepf- )robotr!ow,his8la"a"Mtepf- )robotrenxmeaMopsks.)f.2,srIr4L:"selfGRays-d ValueEDlffr4"sd2,_D=robot8irst"L:"selfGRk"\8mG_edisxmeaMopf VItmolhbh 2""1"a"Mtepf- )robotr!ow,his8la"a"Mtepf- )robotrdisxmeaMopsks.)f.2,srIr4L:"selfGRays-d ValueEDlffr4"sd2,_D=robot8irst"mask(msg_: UT_DE)---------------roTfoarTtiboid.Ts,8====epf- RiEpf- ,8====guiD=Kgui(epf- tx) LguilWINDrm)" ffytt *we777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)f/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTT721TTTTTTTT03220465344666134h"16063./ 30556an-124661422-14436t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777""" BRAaDGUI CUhisnd""# kRobotics. Thp.bp.busednders -g ttyDGUI.f"""= "ay# UTsf81""1""ysf81""1""ignn 81""1"time 81""1""77 ng#br_0fo tem.port V4L port V4L:==port V4#br_0fo temL help, u-age,eabouor4iN__ex([x,G: Uhisui-----"""=-ffT aresavers bRAaDcUhisndaLguil----"""=-ff"\8mG_eGene #**Ct _ #ne("oar'ab"77a_D=gui', , opon( r_{},=epf- Ri0S=-fffff"""=-fffffChildcUhis _*shorlddo+)1; irmouaopon pert): ng\tovers u+2l" V4#-fffffofvers GUI : fers uon(t uct.=-fffff"""=-fffff"a"Mt:riedToStop : UT_DE)4LelfalrffyCT FnedUp : UT_DE)4Lelfepf- Riepf- olhbh 2"a"Mtepf- )guiD="a"Molhbh 2"a"Mtprev"ight *ler r_iignn .iignn (iignn .SIGINTlo_DE)\INTht *lerpf VIr4LelfysCoanduC2[]f VIr4LelfysCoand__ft er : UT_DE)4LelfMAXHISTORY S5Tolhbh 2"a"Mtepviron,k]) r_{}T_DE)4LelfUhitDir hR{}T_DE)4Lif4iN__ex([x,(os.getenv('HOME'). f,/ene(GysCo*******, 1""1fp : f't"(os.getenv('HOME'). f,/ene(GysCo*r4"rasks.)f.2= relfysCoanduC2map(""77 ng.777 )r4ip.rff1""Ls(E)Imil hp1""3p.clos"ppf VIr4L:"selfysCoand__ft er : wrong""selu""self.- (T"\8mG_eaddCommt *air: pai-""r= commt *tmolhbh 2""1wrong""selu""self.>w,his8la""1commt *u!: AB_N)ysCoand[ wrong""selu""self.- (].HardLocwrong(g""selu""sel.wrrr *(commt *)f VIr4L8d.HardLocwrong(g""selu""sel.wrrr *(commt *)f VIr4LelfysCoand__ft er : wrong""selu""self("\8mG_eruia-""r= commt *uC2[]sn t c """=-fffffChildcUhis _*shorlddo+ers beG_eff whateersydo+rtshere.=-fffff"""=-fffffG_f: UT_DE)4L================================================================"T_DE)4L=======""# kRobotics Condgol S tem, (c) 2002, D.S. B"T_DE)4L=======Vort V4L ,"8port V4(1T_DE)4L================================================================"T_DE)4L)u (c/G_f?z]UTf (T_Dwins8:t =======""# k> *r4is8la""1yet=commt *)G_f VIr4L:"smhosraM commt *o0],f VIr4L:"smhofffffiyhcommt *o0].777 )*:t *t *uif tT commt *uC2commt *o1 oS= 'com.8d.HardLocwrong(fffffiyhes() U: ref1""L*:t *t *uif ======="is8la""1fffffi hhR''T_Dwins8:t ***donf: Cuif .geif tT continuS=L1f.2=')G_f: t"D "processCommt *(fffffi"=:3Hanth -rocessCommt *(-""r= fffffi"T_Dwins8fffffiyhfffffi.replUT_(,\na,w"")_Dwins8fffffiyhfffffi.replUT_(,\ra,w"")_Dwins8fffffiyhfffffi.777 )*:t *t *u""1fffffi hhR"rui"his8la"a"MtWINDrm)" un ng\: ferreftt *wes8la"a"Mtepf- )G ERAaRunUs #2saayxy,ouallb=ckwm, onotGr4L:"s t # "a"Mtepf- )G ERAaRunU"a"Mtredraws #2saayxy,ouallb=ckf VIr4L8d""1fffffi hhR"ruitillquit"his8la"a"MtG_f: UT_DE)4L:s"a"Mtepf- )G ERAaRunUsT_DE)4L:s)u (c/UTf :B_N)G_hf VIr4L:"smhosaay() UT_Dav Polarera VIr4L8d""1fffffi hhR"step"his8la"a"MtstepEpf- psks.)f.2,s""1fffffi hhR"WIND"T_Dwins8:t =======G_GRArS=E)\8:t': UT_D,tfo"_Dwins8:t =======Be): fiN_r\t%sImimAB_N)epf- )be): iN__Dwins8:t =======Be): r\t\t%sImimAB_N)epf- )be): _Dwins8:t =======Robot:\t\t%sImimAB_N)epf- )robotGr4L:"s:t =======World:\t\t%sImimAB_N)epf- )worldiN__Dwins8:t =======G_GRArS=E)\8:t': UT_D,tfo"_Dwins8,s""1fffffi hhR"help"T_Dwins8:t help(pf VIr4L,s""1fffffi hhR"u-age"T_Dwins8:t u-age(sks.)f.2,s""1fffffi hhR"ue!"his8la""1"a"Mtepf- )robotr!ow,his8la "a"Mtepf- )robotrue!(weL:"selfGR "a"MtWINDrm)"DG_!*wes8la8d.HardLocwrong(g""seWINDrm)"Def- :=robot8irst!"sks.)f.2,s""1fffffi hhR"abouo"his8laabouo(sks.)f.28d""1fffffi hhR"r_()l "his8la"a"Mtepf- )reseU(sks.)f.28d""1fffffi hhR"()l robot"his8la"a"Mt()l Robot(sks.)f.28d""1fffffi hhR"()l be): "his8la"a"Mt()l Be): (sks.)f.28d""1fffffi hhR"()l simulaR"T_Dwins8:t =======Et er pG(i.e., plugins/simulaRs/AriaSimulaR)"is8la"a"Mt()l Sim(AB_N)epf- )worldiN_sks.)f.28d""1fffffi hhR"stop"his8la"a"Mtepf- )G ERAaStopppf VIr4L:"selfWINDrm)"StoppcdGRsks.)f.28d""1fffffi hhR"quit"m, offfffi hhR"ex(t"m, offfffi hhR"bye"his8la"a"MtG_f: Cuif .geif Polarera VIr4L8d""1yet=fffffi"2.: UTfffffi.)hhR"%"his8laexpuC2777 ng.777 )=fffffio1 pf VIr4L:"sos.A tem(expsks.)f.28d""1fffffi hhR"edio"his8la""1"a"Mtepf- )be): iN_l!hR''T_Dwins8:t ***ifLos.getenv("EDITOR*** ffffffffffffffffedioan : fs.getenv("EDITOR**fffffffffffff8d.HardLocwrong(fffedioan : "emacs"HardLocwrong(os.A tem("%s %sImim(edioan,1"a"Mtepf- )be): iN_)weL:"selfGR "a"MtWINDrm)"RD()l ng.t *wes8la "a"Mtepf- )reseU(sks.)f.2fff8d.HardLocwrong("a"MtWINDrm)"NeedT_DE()l a be): 8irst!"sks.)f.2,s""1fffffi hhR"lIspfmR"his8la"ffmporr_0foguilWIspfmR:==IIspfmRolhbh 2 2lffmporr_0fo tem.shE)d:== hE)dGr4L:"s "sehE)dobe): f: AB_N)epf- )be): Gr4L:"s "sehE)dorobotrRiAB_N)epf- )robotGr4L:"s "sehE)doepf- RiAB_N)epf- olhbh 2 2lIspfmR==IIspfmR.IIspfmRG('shE)dobe): ',G'hhE)dorobot',G'hhE)doepf- ')skf.2fff8d.HardLocwro#L8d""1yet=fffffi"0.: UTfffffi.)hhR"!"his8laexp1yh"f"_fffffiyh"f ,"8:77 ng.777 )=fffffisks.)f.2fff_fffffiyh"eDlff"is8laexp2uC2777 ng.777 )=fffffiweL:"selfGR# perhapsouirlddo+ersse:o""",]bus:uirldch fhis8la"a"Mtepviron,k])["gui"[xer"a"Molhbh 2a"a"Mtepviron,k])[""a"M"[xer"a"M)epf- )be): Gr4L:"s "sea"Mtepviron,k])["epf- "[xer"a"M)epf- Gr4L:"s "sea"Mtepviron,k])["robot"[xer"a"M)epf- )robotGr4L:"s "sea"Mtepviron,k])["be): "[xer"a"M)epf- )be): Gr4L:"s "s=======>>> *rGr4L:"s "s======la"sn r4L:"s "sdger4L:"selfGRfff_fffffiyheffi(exp2,sea"Mtepviron,k])sks.)f.2fff8xcepT_Dwins8:t "sdger4L:"selfGRffffff8xecexp1in2s0_N)epviron,k])fffffffffffff8xcepT_Dwins8:t "s "sdger4L:"selfGRfffffffff8xecexp2in2s0_N)epviron,k])ffffffffffffffff8xcepT_Dwins8:t "s "s GR======_DE)\NDrmatExcep V4IIND(weL:"selfGR ff8d.HardLocwrong(fff GR======"Ok"HardLocwrong(8d.HardLocwrong(fff======"Ok"HardLocwro8d.HardLocwrong(======_la"sn r4L:"sPolarer3T"\8mG_eNDrmatExcep V4IIND(f VIr4maxTB, fol=10tmolhbh 2lffmpor s:traceb=ckf VIr4Lcla.ca8cs:trbkyhes(a8c_iIND(weL:"sel=======ERROR:a,wcla.ca8ct *t *u""1 t(a8cp hhR t("*******, 1""1a8cNe("oara8c GR# G_four fak, s77 ng\excep V4y() UT_D8d""1cla.__dict__.ge''"msg_: UT")r!owNG_hf VIr4L:"sa8cNe("oarcla.__g_: UT_R# :=refiexcep V4Iobject() UT_D8ds_hf VIr4L:"sa8cNe("oarcla GR# G_four fak, s77 ng\excep V4y() UT_Ddger4L:"selfGRexcArgsoara8c.__dict__["args"oS= 'cexcep KeyEDlffr4L:"selfGRexcArgsoar("",sks.)f.2excTboartraceb=ck\NDrmat_tb(trbkr4maxTB, folsks.)f.2# FIX:oT aresavonly+ers eDlffs b=ckeNDur 1""Ls!ks.)f.2# howdo+you . p ersm befandTat?ArS=.2#nderT_2excTbmolhbh 2# hp======errks.)f.2fffarera%s: %s %sImim(e8cNe(",RexcArgso0], "y,ouimmt * 1""L"we"\8mG_eredraw8f VItmolhbh 2# FIX:ot aresavway awkwardmolhbh 2AoarG icStrefm(weL:"sel==StrefmRenderer(Itx) L:"selfdraw8{},=r)2# . p !a2ACAGerobot,Goersr'dgehgsf VIr4L3.clos"ppf VIr4Ls==StrefmTranslatGIr4TTYRenderer() flhbh 2A"process()T_DE)4Ln.clos"ppf"\8mG_e_draw(f VIr, opon(,renderersn t c """=-fffffIfTOhguiDUeedTdrawn sCdgehi itf VI it*shorldgohere.=-fffff"""=-fffff#render world=-fffff#renderer.xNDrmPuihUsks.)f.2renderer.colG(1,as,as)sks.)f.2renderer.Memb le((-, UT-, UT0),=(, UT-, UT0),=(, UT, UT0))=-fffff#renderer.xNDrmPopppf VIr4L#=======RedrawLguilt *("\8mG_edlerMenu(AB_N,ne(",commt *rS=-fffff""" Corldb""d :=key+rtshere ^s,a^2,s^3lt *""=-fffffsaay("\8mG_eiN_()l diada)pf VIr4 t, sk)f, olddir hR'tmolhbh 2""" ff :=1""L2ACAGeuser *""=-fffffs======\n%s F (cne(":f,1%4 t,ks.)f.2fffffiyhhes() U: ref1""L*:t *t *ufffffiyhfffffi.replUT_(,\na,w"")_Dwins8fffffiyhfffffi.replUT_(,\ra,w"")_Dwins8fffds sla"sn t=#.mG_etT FnupU.getsn t c ""1UTf elfalrffyCT FnedUphis8la"a"MtalrffyCT FnedUp : Cuif .geif s======CT Fnehi uplt *,is8la"a"MtG_f: Cuif .geif dger4L:"selfGRfffees() Uout r_iepfles) Uoutks.)f.2fGRfffees() Uerr r_iepfles) UeDlks.)f.2fff8xcepT_Dwins8:t "ssaay() UT_Dav ""1"a"Mtepf- !ow,his8la "a"Mtepf- )shu UownUsT_DE)4L:sdger4L:"selfGRffffp : f't"(os.getenv('HOME'). f,/ene(GysCo*r4"w*wes8la 1""L_uir]) r_min( wrong""selu""self,LelfMAXHISTORYwes8la 3-vmem8 fa1""L_uir]) )-tfoouirtds===fp)nue-ir AB_N)ysCoand[ wrong""selu""self.- 1""L_uir]) + i] +,\na wes8la 3p.clos"ppf VIr4L:"s8xcepT_Dwins8:t "ssaay() UT_Dav es(a8it(1we"\8mG_etepEpf- pf VItmolhbh 2_aRArepf- )G ERAaStep(pf VIr4LAlfWINDrm)"Step)G_!"f("\8mG_eruiEpf- pf VItmolhbh 2_aRArepf- )G ERAaRunUsT_DE)4L"a"MtWINDrm)" un ngtt *we"\8mG_etopEpf- (f VItm2# top!olhbh 2_aRArepf- )G ERAaStop(pf VIr4LAlfWINDrm)"StoppcdGRsk"\8mG_etopTranslatepf VItmolhbh 2_aRArepf- )robotrtep('ST'sk"\8mG_etopRoux10pf VItmolhbh 2_aRArepf- )robotrtep('SR'we"\8mG_etepForwardpf VItmolhbh 2_aRArepf- )robotrtep('F'we"\8mG_etepBack(f VItmolhbh 2_aRArepf- )robotrtep('B'we"\8mG_etepLeft(f VItmolhbh 2_aRArepf- )robotrtep('L'we"\8mG_etepRA bo(f VItmolhbh 2_aRArepf- )robotrtep('R'we"\8mG_ereseUEpf- (f VItmolhbh 2_aRArepf- )reseU(sks.)f.2"\8mG_e()l Be): (f VItmolhbh 2f r_iepfiN_()l diada)p"be): s","*.aveCelf(hitDir.ge''"be): ",G'' )f VIr4LifLfl!hR''T_Dwins8:t elf(hitDir["be): "[xer"77 ng.jo: (flpli'''/')[:-1],'/')_Dwins8:t elffreeBe): (sks.)f.2h 2_aRArepf- )()l Be): (fwe"\8mG_e()l Dev00)(f VItmolhbh 2f r_iepfiN_()l diada)p"dev00)s","*.aveelf(hitDir.ge''"dev00)s",'' )f VIr4LifLfl!hR''T_Dwins8:t elf(hitDir["dev00)s"]_: "77 ng.jo: (flpli'''/')[:-1],'/')_Dwins8:t ""1"a"Mtepf- !ow, : UT_DE)\epf- )robotr!ow,his8la "a"Mtepf- )robotr"tDev00)s(fwe"\8mG_efreeBe): (f VItmolhbh 2_aRArepf- )G ERAaStop(pf VIr4LAlfepf- )de"77oyBe): (sks.)f.2Alfepf- )freeBe): (sks.)f.2"a"Mtepf- )be): iN_lhR'tC"\8mG_e()l Sim(AB_N, worldiN_lhR'tmolhbh 2ne(GpG: fs.getenv('PYRO')_Dwins8f r_iepfiN_()l diada)p"simulaRs","*eelf(hitDir.ge''"sim",G'' )f VIr4LifLfl!hR''T_Dwins8:t elf(hitDir["sim"]_: "77 ng.jo: (flpli'''/')[:-1],'/')_Dwins8:t ""1worldiN_lhhR''T_Dwins8:t ***simulaRNe("oarflpli'''/')[-1]_Dwins8:t ***""1"imulaRNe("[-6:)hhR"Sidfid"-tfoouirtds===cf UT_DirNe("oar"imulaRNe("[:-6]ffffffffffffffffworldiN_lhRiepfiN_()l diada)p"cf UT_s","*.cfgboth')f.2= r= f, folt(l.wfffffffffffffffffffffffffelf(hitDir.ge''"%s-cf UT_ImimAimulaRNe(",ro0 r= f(sr_ce_Dlffffffffffffffffffffffffffffffffffffffffffffffff"%s/plugins/cf UT_s/%s/ ,%ro0 r= f(sr_ce_Dlffffffffffffffffffffffffffffffffffffffffffffffff(ne(Gp,=cf UT_DirNe("))pf VIr4L:"sng(fGR""1worldiN_lhhR""-tfoouirtds=== ""Polare() UT_DDDDDDDDDDelf(hitDir["%s-cf UT_ImimAimulaRNe("]_: "77 ng.jo: (worldiN_lpli'''/')[:-1],'/')_Dwins8:t g(8d.HardLocwrong(fff# endavwiG"SimulaR"() UT_DDDDDDDDDDeimDirNe("oar"imulaRNe("[:-9]ffffffffffffffffworldiN_lhRiepfiN_()l diada)p"worlds","*.worldboth')f.2= r= f, folt(l.wfffffffffffffffffffffffffelf(hitDir.ge''"%s-worldbmimAimulaRNe(",ro0 r= f(sr_ce_Dlffffffffffffffffffffffffffffffffffffffffffffffff"%s/plugins/worlds/%s/ ,%ro0 r= f(sr_ce_Dlffffffffffffffffffffffffffffffffffffffffffffffff(ne(Gp,=eimDirNe("))pf VIr4L:"sng(fGR""1worldiN_lhhR""-tfoouirtds=== ""Polare() UT_DDDDDDDDDDelf(hitDir["%s-worldbmimAimulaRNe("]_: "77 ng.jo: (worldiN_lpli'''/')[:-1],'/')_Dwins8:t 8d.HardLocwrong("imulaRNe("oarworldiN__Dwins8:t DDDelf(hitDir["%s-worldbmimAimulaRNe("]_: "77 ng.jo: (worldiN_lpli'''/')[:-1],'/')_Dwins8:t AB_N)epf- )worldiN_oarworldiN__Dwins8:t ne(GPIDG: fs.getpid(sks.)f.2h 2os.A tem(f. f(" %df,1%4ne(GPID). fworldiN_l f,1&"sks.)f.2 .2"\8mG_e()l Robotpf VItmolhbh 2f r_iepfiN_()l diada)p"robots","*.aveCelf(hitDir.ge''"robot",G'' )f VIr4LifLfl!hR''T_Dwins8:t elf(hitDir["robot"[xer"77 ng.jo: (flpli'''/')[:-1],'/')_Dwins8:t elffreeBe): (sks.)f.2h 2_aRArfreeRobot(sks.)f.2 2_aRArepf- )()l Robot(fsks.)f.2 2#""1"a"Mtepf- )robot.HardLocwro#L""3-vmdev00)fin2s0_N)epf- )robot.devData["builtinDev00)s"].HardLocwro#L"" 2_aRArmenuButton(["Built-ldnDev00)s"])add_uimmt *(label=dev00),commt *=lambda:"a"MtsttDev00)(dev00))we"\8mG_efreeRobotpf VItmolhbh 2_aRArepf- )G ERAaStop(pf VIr4LAlfepf- )freeRobot(sks.)f.2s0_N)epf- )robotiN_lhR'tC"\8mG_eINTht *ler(AB_N, iignum, fre(")molhbh 2n======STOP G_GRArS=E)\8:t': UT_D,tfo"_Dwins8s0_N):riedToStop "piCuif .ge""1"a"Mt:riedToStop > 2:ks.)f.2h 2os.A tem("killall -94ne(G"sks.)f.2s0_N)epf- )G ERAaStop(pf VIr4LAlftT FnupUsk"\8mG_eWINDrm)f VIr4m _-agesn t c n=====m _-ageks.)f.2"\8mG_eiN_savediada)pf VIr4 t, sk)f, tdir hR'tmolhbh 2""" ff :=1""L2ACAGeuser *""=-fffffs======\nF (cne(":f,,ks.)f.2fffffiyhhes() U: ref1""L*:t *t *ufffffiyhfffffi.replUT_(,\na,w"")_Dwins8fffffiyhfffffi.replUT_(,\ra,w"")_Dwins8fffds sla"sn t=#.mG_eyewBe): (f VItmolhbh 2saay(77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)uon(olef/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTT721TTTTTTTTT03220465344666134h"16063./ 024h"44672264244-14342t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777#rr_0foguiluon(ole # #oT aresava(textDoutput ili'ynders xrcl bRAa. #oitesavmode f :ftorers ),normhesda)p3) # #oItesavpla"'yAimG E. # #fidbosi'y, fols FATALh 2: UTERRORh 2: 1 WARNING2: 2 INFO h 2: 3 DEBUGh 2: 4 #fidbosi'y"77 ngs fidbosi'yM _-ageuC2["fatal","eDlff","war ng","WIND","debug"] fidbosi'yL fol2: 4 USE_COLORh: UT mG_etolorize(txt,=cfi"T_Dwin*""_Dl""vetolorized(text*""=-ffftol( r_{ 'fatal':1,G'WIND':2,G'war ng':3,G'debug':4,h"eDlff":1}T_DE)# fatal,eDlff -ered,eWIND -egreen, war ng -eyellow, debug -ebluS=L1f)1; co0 = "'\033[;3urS=Lendco0 == "'\033[0murS=L""1 t(cfi" hhR t(1** ffffffffffffds s)1; co0 ="8:77(cfi" + 'm' + txt + endco0 fffffdger*fffds s)1; co0 ="8:77(cfis[cfi]" + 'm' + txt + endco0 fffffexcepT fffds stxtT mG_eda)p, folr4m _-agesn t ""1yefol2<= fidbosi'yL fol:ks.)f.2h ""1UTf USE_COLOR.HardLocwrong(======m _-ageks.)f.2ro8d.HardLocwrong(======tolorize(m _-age, , folsks.)f""1yefol2hhR'fatal':ffffffffffys-d m _-agek mG_esetVidbosi'yp, folsn t fidbosi'yL fol2: , fol (77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)drawxmeaf/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTT721TTTTTTTT03220465344666134h"16063./ 0331244447761623-14470t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# DrawxmeacUhis; subcUhis d byfanydgehiTat wa]) #to be xmeato be #odrawn. #bUserLir:2lffmporUserLir:G: UhisDrawxmea(UserLir:)-----"""=-ffT are UhisencapsulaRes'dgehgsTat can be rendered.Drawxmeaava)dGr4Ll([x,fof drawxmeas. ----"""=-ffmG_eGene #**Ct _ ne("='top , fol'r, opon(={}sn t c """=-fffffNe("osava(globaly unique#ne("onderaredrawxmea t c """=-fffffUserLir:.Gene #**Ct _tx) L:"selfdrawxmeaNe("oarne("x) L:"self, opon( r_op V4y() UT_DelfUeedToRedrawL=r3T"\8mG_egetOp V4y(f VItmolhbh 2"""=-fffff_Dl""vava(dict V4ary (index d byfdrawxmearne(")fof dict V4ariey() UT_D(index d byfop V4rne(")fof possiblefop V4rvalues. ----h 2"""=-fffffops hR{}T_DE)4L3-vmdfin2s0_N* ffffffffffops[d.ge'Ne("pp]=-fffffops[_DE)[xer"a"M)op V4y() UT_Dfffds sopsT"\8mG_egetNe("pf VItmolhbh 2"""=-fffff_Dl""vers )e("oofver?z]Drawxmea t c """=-ffffffffds selfdrawxmeaNe("T"\8mG_egetDrawxmeaa(f VItmolhbh 2"""=-fffff_Dl""vava(l([xoofvf VI pluavall children'redrawxmeasolhbh 2"""=-fffffl([xoC2[]f VIr4L3-vmdfin2s0_N*HardLocwro#======d, "yava(drawxmearofeCelfHardLocwro3-vmxfin2d.ge'Drawxmeaa()-tfoouirtdsl([x.wrrr *(xpf VIr4L#l([x.wrrr *(t _tx) L:"sfffds slir:G:"\8mG_edraw(f VIr, opon(,renderersn t c """=-fffffDrawvall children : UTersnTdrawn lfHardLoc"""=-fffff3-vmdfin2s0_N*HardLocwro#======"Callehidrawnfff",2d.drawxmeaNe("TardLocwrod.draw(, opon(,renderers# [d.ge'Ne("pp],renderers Locwro#======"Callehidrawnfff2s0_N*eCelfdrawxmeaNe("TardLocelf_draw(, opon(,renderers;() UT_DelfUeedToRedrawL=r3T"=-ffmG_eGdraw(f VIr, opon(,renderersn t c """=-fffffT aresavers funct V4Tat children shorldimG E,k]).oIteshorld=-fffffdrawLitf VI.=-fffff"""=-ffffffys-d "Drawxmea_draw:osavan :b"77a_D=fuition" (7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)glf/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTT721TTTTTTTTTTTTTT03220465344666134h"16063./ 17423-7766426163-13322t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777bOrr GL.GLUT2lffmpor* bOrr GL.GL2lffmpor* bOrr GL.GLU2lffmpor* lffmporTtiboid lffmporOrr GL.Tk:==Orr gl#br_0foguildrawxmearlffmpor* br_0foguilrenderer.glrlffmpor* br_0foguilrenderer.strefmsrlffmpor* br_0forobotr"erv00)fiffmporServ00) btime 81""1"time #oA GL2guiG: UhisGLView(Serv00)** ffffmG_eGene #**Ct _ #robot,GwidG: 40mlohets: 40mlodboar1, depG: 1)T_Dwins8Serv00).Gene #**Ct _ #"erv00)Typ = "'view'sks.)f.2# T areUeed #to be G_fheremolhbh 2_aRArrobotrRirobotGr4L:"sea"MtappoarTtiboid.Ts,8====:"sea"Mtapp.widraw(sks.)f.2# A UToersr'----4_""dow_*shorldu-d Ttiboid.Top, fol,8====:"sea"MtwidG: wid====:"sea"Mthets: hets====:"sea"Mtgenl([xoC2Tolhbh 2"a"Mt(hitRunoC2Tolhbh 2"a"MtysCoanduC2[]f VIr4LelfysCoand__ft er : UT_DE)4Lelf(hittime : UT_DE)4Lelfne!lfboidffi : U.1UT_DE)4LelfdboardbT_DE)4LelfdepG: dep====:"sea"MtwinoC2NG_====:"sea"MtdlerW""dow(sk"\8mG_edlerW""dow(f VItmolhbh 2_aRArvisiblef: Cuif .geea"Mtact vef: Cuif .ge""1"a"Mtwino!owNG_h"Polare() UT_DAB_N)fre("oarTtiboid.Fre("ppf VIr4LAB_N)fre("s00anch,0 = "' o u)====:"sea"MtwinoC2Orr gl.Orr gl(mhiter r_iepffre(",GwidG: ea"Mtwid, \HardLocwrong((((((((((((((((((((hets: ea"Mthets, doumea: ea"Mtdb, \HardLocwrong((((((((((((((((((((depG: elfdep)====:"sea"Mtwins00anch,0 = "' o u,Rexpt *uC21r4iNi : 'bothu)====:"sea"Mtwintwinfo_top, fol,8.titea("3D""# kRobot View")====:"sea"MtwintredrawL=r_aRArredraw====:"sea"Mtdo0 = "Ttiboid.IntVar(AB_N)w"") r4L:"sea"Mtdo0 .seU(GL_EXPpf VIr4LAlfWIit(sk"\8mG_eue!W""dow(f VItmolhbh 2#currk]) r_time(folhbh 2#""1currk]) -Lelf(hittime >=Lelfne!lfboidffi:====:"sea"MtwinttkRedraw(sks.)f.2# 4Lelf(hittime : currk])ks.)f.2#)u (c/ea"Mtwinttk.doG_ font(2): paay("\8mG_efhitUe!(f VItmolhbh 2elfne!lfboidffi : U.1UT"\8mG_edediumUe!(f VItmolhbh 2elfne!lfboidffi : U.33e"\8mG_elowUe!(f VItmolhbh 2elfne!lfboidffi : 1.0k"\8mG_eWIitpf VItmolhbh 2# D 1UTf epecifyva(mrifi propertyhere.=-fffffmuC2[0.mlo0.mlo0.mlo1.0]f VIr4LglMrififv(GL_FRONTloGL_AMBIENTlom)f VIr4LglMrififv(GL_FRONTloGL_DIFFUSE,2[0.61424lo0.m4136lo0.m4136lo1.0])f VIr4LglMrififv(GL_FRONTloGL_SPECULAR,2[0.727811lo0.626959lo0.626959lo1.0])f VIr4LglMrififv(GL_FRONTloGL_SHININESSlo0.6 * 128.0 r4L:"sltsgrayuC2[0.75lo0.75lo0.75lo1.0]f VIr4LgrayuC2[0.5lo0.5lo0.5lo1.0]f VIr4LdarkgrayuC2[0.25lo0.25lo0.25lo1.0]f VIr4LckuC2[0lo0lo0]f VIr4Lf VIr4LglLtsfv(GL_LIGHT0loGL_SPECULAR,2ltsgrays;() UT_DglLtsfv(GL_LIGHT0loGL_DIFFUSE,2grays;() UT_DglLtsfv(GL_LIGHT0loGL_AMBIENTlocks;() UT_D() UT_DglDisxmea(GL_DITHER)f VIr4LglEnxmea(GL_DEPTH_TEST)f VIr4LglDepFunc(GL_LESS)() UT_DglLtsfv(GL_LIGHT0loGL_POSITION,2[0.mlo3.mlo3.mlo0.0])f VIr4LlocalviewuC2[0.m]() UT_DglLtsMode fv(GL_LIGHT_MODEL_LOCAL_VIEWER,2localviewu)f VIr4LglEnxmea(GL_CULL_FACE)f VIr4LglEnxmea(GL_LIGHTING)f VIr4LglEnxmea(GL_LIGHT0)f VIr4LglEnxmea(GL_COLOR_MATERIAL)f VIr4LglColorMrifi(GL_FRONT_AND_BACKloGL_DIFFUSEwe"\8mG_eredraw8f VIr4_""1""0): r4L:"sglCT FrColor(0.5lo0.5lo0.5lo0)f VIr4LglCT Fr(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BITsks.)f.2#glLoadIdonti'ypsks.)f.2#_aRArresize(ea"Mtwid, ea"Mthets)_Dwins8f r_G icStrefm(weL:"sel==StrefmRenderer(Itx) L:"selfrobot.draw8{},=r)2# . p ers drawLcommt *r_Dwins8f.clos"ppf VIr4Ls==StrefmTranslatGIr4GLRenderer() 2# . teLcommt *r_Dwins8A"process() #odrawvers robotGr4L:"sf.clos"ppf VIr4Lsa"Mt:extView(pf VIr4Lsa"MtbitmapS77 ng(1,aea"Mthets- 3mlo"X*eC(0lo0lo0)pf VIr4Lsa"MtbitmapS77 ng(1,aea"Mthets- 6mlo"Y*eC(0lo0lo0)pf VIr4Lsa"MtbitmapS77 ng(1,aea"Mthets- 9mlo"Th*eC(0lo0lo0)pf VIr4L""1"a"Mtrobotr!ow,his8la"a"MtbitmapS77 ng(1,aea"Mthets- 3mlo"la%.2fImimAB_N)robot.ge'''robot',G'x'at (1,a0lo0)pf VIr4Lr4Lsa"MtbitmapS77 ng(1,aea"Mthets- 6mlo"la%.2fImimAB_N)robot.ge'''robot',G'y'at (1,a0lo0)pf VIr4Lr4Lsa"MtbitmapS77 ng(1,aea"Mthets- 9mlo"la%.2fImimAB_N)robot.ge'''robot',G'()o"t (1,a0lo0)pf VIr4Lr4L""1"a"Mtrobot.ge'''"a"M',G'htall')-tfoouirtdssa"MtbitmapS77 ng(1,aea"Mthets- 12mlo"[BUMP!]"t (1,a1lo0)pf VIr4L8d.HardLocwro"a"MtbitmapS77 ng(1,aea"Mthets- 3mlo"la0.m"t (1,a0lo0)pf VIr4Lr4Lsa"MtbitmapS77 ng(1,aea"Mthets- 6mlo"la0.m"t (1,a0lo0)pf VIr4Lr4Lsa"MtbitmapS77 ng(1,aea"Mthets- 9mlo"la0.m"t (1,a0lo0)pf"\8mG_e:extView(f VItmolhbh 2glView1""1(0l0,ea"Mtwid,ea"Mthets)_Dwins8glMrixMode(GL_PROJECTION)() UT_DglLoadIdonti'ypsks.)f.2glOrtho(0.mloea"MtwidG- 1.mlo0.mloea"Mthets- 1. UT-,.mlo1.0)_Dwins8glMrixMode(GL_MODELVIEW)() UT_DglLoadIdonti'ypsk"\8mG_ebitmapS77 ng(f VIr4x, y, s77,=tolor): r4L:"sglColor3fv(tolor) r4L:"sglRhiterPos2f(x, y)_Dwins8f-vmemm8 fawrongtr))-tfoouirglutBitmapCha7a_Der(GLUT_BITMAP_HELVETICA_18wm, dngtr[i])pf"sk(msg_: UT_DE)---------------br_0fopluginstrobots.SimG ERobot iffmporSimG ERobotk"\8 UhisSimG EDrawxmeaRobot(SimG ERobot)-tfoomG_eGdraw(f VIr_op V4y, renderersnR# ver()l ednCAGerobotHardLocwro#"a"MtsetLoca V4("a"Mtsenses['robot']['x'], \HardLocwro# "a"Mtsenses['robot']['y'], \HardLocwro# "a"Mtsenses['robot']['z'], \HardLocwro# "a"Mtsenses['robot']['thr'] wes8larenderer.xNDrmPuihUsks.)f.2 .2renderer.colG(1,a0lo0)pf VIr4Lr4L#======"posi' V4: (eCelfge'''robot',G'x'at ",eC \HardLocwro# elfge'''robot',G'y'at ")"is8laHardLocwro#renderer.xNDrmXlatep(elfge'''robot',G'x'at \HardLocwro# elfge'''robot','y'at \HardLocwro# elfge'''robot','z'))pf VIr4L:"srenderer.xNDrmRoux10pf VI.ge'''robot',G'()o"t (0lo0lo1)pf VIr4L:"sf VIr4L:"srenderer.xNDrmXlatep( 0lo0lo.15)pf VIr4L:"sf VIr4L:"srenderer.box((-.25lo.25lo0), \HardLocwrong((((((((((((.25lo.25lo0), \HardLocwrong((((((((((((.25lo-.25lo0), \HardLocwrong((((((((((((-.25lo.25lo.35) 2# desavover a, CWf VIr4L:"sf VIr4L:"srenderer.colG(1,as,a0)pf VIr4L:"sf VIr4L:"srenderer.box((.13lo-.05lo.35), \HardLocwrong((((((((((((.13lo.05lo.35), \HardLocwrong((((((((((((.25lo.05lo.35), \HardLocwrong((((((((((((.13lo-.05lo.45) 2# desavover a, CWf VIr4L:"sf VIr4L:"srenderer.colG(.5lo.5lo.5)pf VIr4L:"sf VIr4L:"s# wheel Cuif .geif Ponderer.xNDrmPuihUsks.)f.2 .2renderer.xNDrmXlatep(.25lo.3,a0)pf VIr4L:"srenderer.xNDrmRoux10p9mlo(1,a0lo0)pf VIr4Lr4Lrenderer.tus(.06lo.12,as2,a24wes8larenderer.xNDrmPopppf VIr4L:"sf VIr4L:"s# wheel 2uif .geif Ponderer.xNDrmPuihUsks.)f.2 .2renderer.xNDrmXlatep(-.25lo.3,a0)pf VIr4L:"srenderer.xNDrmRoux10p9mlo(1,a0lo0)pf VIr4Lr4Lrenderer.tus(.06lo.12,as2,a24wes8larenderer.xNDrmPopppf VIr4L:"sf VIr4L:"s# wheel 3uif .geif Ponderer.xNDrmPuihUsks.)f.2 .2renderer.xNDrmXlatep(.25lo-.3,a0)pf VIr4L:"srenderer.xNDrmRoux10p9mlo(1,a0lo0)pf VIr4Lr4Lrenderer.tus(.06lo.12,as2,a24wes8larenderer.xNDrmPopppf VIr4L:"sf VIr4L:"s# wheel 4uif .geif Ponderer.xNDrmPuihUsks.)f.2 .2renderer.xNDrmXlatep(-.25lo-.3,a0)pf VIr4L:"srenderer.xNDrmRoux10p9mlo(1,a0lo0)pf VIr4Lr4Lrenderer.tus(.06lo.12,as2,a24wes8larenderer.xNDrmPopppVIr4L:"sf VIr4L:"sf VIr4L:"s# sV4arHardLocwro#renderer.xNDrmPuihUsks.)f.2 .2#renderer.colG(0lo0lo.7)pf VIr4Lr4L#3-vmem8 faf VI.ge'''sV4ar',G'uir])'))-tfoouir# y1,ax1,az1yh-f VI.ge'''sV4ar',G'x',Giat \HardLocwro# -f VI.ge'''sV4ar',G'y',Giat \HardLocwro# f VI.ge'''sV4ar',G'z',GiaHardLocwro# #y2,ax2,az2yh-f VI.ge'''sV4ar',G'ox',Giat \HardLocwro# # -f VI.ge'''sV4ar',G'oy',Giat \HardLocwro# # f VI.ge'''sV4ar',G'oz',GiaHardLocwro# # Thos"abovervaluesva)d off!HardLocwro# # FIXME: whateandT"actufi posi' V4soofvf ns-vmx,y?HardLocwro# x2,ay2,az2yh0lo0loz1HardLocwro# arc GRL=r_aRArge'''sV4ar',G'arc',Giao# 8 diansHardLocwro# renderer.May((x1,ay1,az1"t (x2,ay2,az2"t arcaHardLocwro# HardLocwro#renderer.xNDrmPopppVIr4L:"sf VIr4L:"s# endoofvrobotHardLocwrorenderer.xNDrmPopppfHardrobotrRiSimG EDrawxmeaRobot(aHardguiD=GLView(robotaHard#guilapp.m): loop(sk777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)lIspfmRf/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTT721TTTTTTT03644465344666134h"16063./ 14333-7711477632-14715t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777 lffmporTtiboid lffmpor tsf81""1"r_0fo tem.shE)d:== hE)dG: UhisIIspfmRGTtiboid.Ts)-HardLmG_eGene #**Ct _ #rootrRiNG_)-tfoouiTtiboid.Ts.Gene #**Ct _tx) L:"sE)# frstT"obj4_""dow-tfoouileftFre("oarTtiboid.Fre("pt _tx) L:"sE)leftFre("s00anc{'expt *':'yes',G'hide' :'left',G'pady' :'1', fffffffffffffffffffffffff'iNi' :'y'}tx) L:"sE)leftFre("swinfo_top, fol,8.titea("""# kObjectIIspfmR"sks.)f.2 .fre("oarTtiboid.Fre("pleftFre("sks.)f.2 .fre("s00anc{'expt *':'yes',G'hide' :'left',G'pady' :'1', fffffffffffffffffffff'iNi' :'y'}tx) L:"sE)fre("['relief'[xer'fys-dd'x) L:"sE)fre("['bd'] xer'2'x) L:"sE)fN_sFre("oarTtiboid.Fre("pfre("sks.)f.2 .fN_sFre("['relief'[xer'flat'x) L:"sE)fN_sFre("['bd'] xer'2'x) L:"sE)fN_sFre("s00anc{'hide':' o u,R'expt *':'yes',G'iNi':'y'}tx) L:"sE)labeloarTtiboid.Label(fN_sFre("tx) L:"sE)label[':ext'[xer'Objects:'x) L:"sE)labels00anc{'hide':' o u,R'expt *':'no',G'anchor':'w',ro0 r= f(sr_ce_Dlffff'iNi':'nG_'}tx) L:"sE)scrollBaroarTtiboid.Scrollbar(fN_sFre(", {'orie])':'vertical'}tx) L:"sE)scrollBars00anc{'expt *':'no',G'hide':'rts',G'iNi':'y'}tx) L:"sE)elfdirLboarTtiboid.Listbox(fN_sFre(", {'yscroll':scrollBarsset}tx) L:"sE)elfdirLbs00anc{'expt *':'yes',G'hide' :' o u,R'pady' :'1', ffffffffffffffffffffffffff'iNi' :'y'}tx) L:"sE)elfdirLbsb""d('', "a"Mtse2,_DItemx) L:"sE)scrollBar['commt *'[xer"a"M)dirLbsyviewx) L:"sE)elfdirLbscf UT_ure(yscroll=scrollBarssetpfHardddddd# sCdgo*rT_Dwins8:tfre("oarTtiboid.Fre("pleftFre("sks.)f.2 .fre("s00anc{'expt *':'yes',G'hide' :' o u,R'pady' :'1', fffffffffffffffffffff'iNi' :'y'}tx) L:"sE)fre("['relief'[xer'fys-dd'x) L:"sE)fre("['bd'] xer'2'x) L:"sE)fN_sFre("oarTtiboid.Fre("pfre("sks.)f.2 .fN_sFre("['relief'[xer'flat'x) L:"sE)fN_sFre("['bd'] xer'2'x) L:"sE)fN_sFre("s00anc{'hide':' o u,R'expt *':'yes',G'iNi':'y'}tx) dddddd# MCdgo*rT_Dwins8:tlabeloarTtiboid.Label(fN_sFre("tx) L:"sE)label[':ext'[xer'MCdgo*rT'x) L:"sE)labels00anc{'hide':' o u,R'expt *':'no',G'anchor':'w',ro0 r= f(sr_ce_Dlffff'iNi':'nG_'}tx) L:"sE)scrollBaroarTtiboid.Scrollbar(fN_sFre(", {'orie])':'vertical'}tx) L:"sE)scrollBars00anc{'expt *':'yes',G'hide':'rts',G'iNi':'y'}tx) L:"sE)elfsCdgo*roarTtiboid.Listbox(fN_sFre(", {'yscroll':scrollBarsset}tx) L:"sE)elfsCdgo*rs00anc{'expt *':'yes',G'hide' :' o u,R'pady' :'1', ffffffffffffffffffffffffffff'iNi' :'y'}tx) L:"sE)ecrollBar['commt *'[xer"a"M)sCdgo*rsyviewxx) dddddd# varixmeaaT_Dwins8:tfre("oarTtiboid.Fre("pleftFre("sks.)f.2 .fre("s00anc{'expt *':'yes',G'hide' :'bottomu,R'pady' :'1', fffffffffffffffffffff'iNi' :'y'}tx) L:"sE)fre("['relief'[xer'fys-dd'x) L:"sE)fre("['bd'] xer'2'x) L:"sE)fN_sFre("oarTtiboid.Fre("pfre("sks.)f.2 .fN_sFre("['relief'[xer'flat'x) L:"sE)fN_sFre("['bd'] xer'2'x) L:"sE)fN_sFre("s00anc{'hide':' o u,R'expt *':'yes',G'iNi':'y'}tx) dddddd# VarixmeaaT_Dwins8:tlabeloarTtiboid.Label(fN_sFre("tx) L:"sE)label[':ext'[xer'VarixmeaaT'x) L:"sE)labels00anc{'hide':' o u,R'expt *':'no',G'anchor':'w',ro0 r= f(sr_ce_Dlffff'iNi':'nG_'}tx) L:"sE)scrollBaroarTtiboid.Scrollbar(fN_sFre(", {'orie])':'vertical'}tx) L:"sE)scrollBars00anc{'expt *':'yes',G'hide':'rts',G'iNi':'y'}tx) L:"sE)elfvarixmeaaoarTtiboid.Listbox(fN_sFre(", {'yscroll':scrollBarsset}tx) L:"sE)elfvarixmeaas00anc{'expt *':'yes',G'hide' :'bottomu,R'pady' :'1', fffffffffffffffffffffce_Dlffff'iNi' :'y'}te_Dlffffx) L:"sE)ecrollBar['commt *'[xer"a"M)varixmeaasyviewxx) dddddd# helpe:extT_Dwins8:tfre("oarTtiboid.Fre("pt _tx) L:"sE)fre("s00anc{'expt *':'yes',G'hide' :'rts',G'pady' :'1', fffffffffffffffffffff'iNi' :'bothu}tx) L:"sE)fre("['relief'[xer'fys-dd'x) L:"sE)fre("['bd'] xer'2'x) L:"sE)fN_sFre("oarTtiboid.Fre("pfre("sks.)f.2 .fN_sFre("['relief'[xer'flat'x) L:"sE)fN_sFre("['bd'] xer'2'x) L:"sE)fN_sFre("s00anc{'hide':' o u,R'expt *':'yes',G'iNi':'bothu}tx) L:"sE)labeloarTtiboid.Label(fN_sFre("tx) L:"sE)label[':ext'[xer'HelpT'x) L:"sE)labels00anc{'hide':' o u,R'expt *':'no',G'anchor':'w',ro0 r= f(sr_ce_Dlffff'iNi':'nG_'}tx) L:"sE)# help:x) L:"sE)scrollBaroarTtiboid.Scrollbar(fN_sFre(", {'orie])':'vertical'}tx) L:"sE)scrollBars00anc{'expt *':'no',G'hide':'rts',G'iNi':'y'}tx) L:"sE)elfhelptextDarTtiboid.Text(fN_sFre(", {'yscroll':scrollBarssetr4"wid": 70}tx) L:"sE)elfhelptexts00anc{'expt *':'yes',G'hide' :' o u,R'pady' :'1', fffffffffffffffffffffffffffff'iNi' :'bothu}tffffffffx) L:"sE)ecrollBar['commt *'[xer"a"M)helptextsyviewxx) dddddd"a"M)sCdgo*rsb""d('', "a"MtsCdgo*Itemx) L:"sE)sa"M)varixmeaasb""d('', "a"MtvarixmeaItemxx) L:"sE)""1footrRowNG_hf VIr4L:"s --roTfoardirUsks.)f.2 .nderang_yxy,oroTf-tfoouirtdssa"MtdirLbsinsert('e *',erang_y)-HardLmG_eshowHelppf VIr4 rang_y):x) L:"sE)elfhelptextsde te(,.mlo'e *'sks.)f.2 .8xec"dgehi= %sImim rang_yx) L:"sE)""1 rang.__doc__-tfoouirtdssa"Mthelptextsinsert('e *',erang.__doc__sks.)f.2 .8d.HardLocwrong(g""selelptextsinsert('e *',"")-HardLmG_e()l Itemspf VIr4 rang_y):x) L:"sE)elfsCdgo*rsde te(0,)elfsCdgo*rssize()x) L:"sE)sa"M)varixmeaasde te(0,)elfvarixmeaassize()x) L:"sE)sa"M)helptextsde te(,.mlo'e *'sks.)f.2 .8xec"dgehi= %sImim rang_yx) L:"sE)""1 rang.__doc__-tfoouirtdssa"Mthelptextsinsert('e *',erang.__doc__sks.)f.2 .8d.HardLocwrong(g""selelptextsinsert('e *',"")-s.)f.2 .ndsuberang_yxy,odirUerang)-tfoouirtds""1"uberang_y.)hhR'_': continuS=L1f.2=')2 .8xec""uberang= %s.%sImim(erang_y,1"uberang_y)-tfoouirtds""1 t("uberang" hhR ts.MCdgo*Typ -tfoouirtds=== elfsCdgo*rsinsert('e *',"uberang_y)-tfoouirtds8d.HardLocwrong(fff elfvarixmeaasinsert('e *',"uberang_y)-HardLmG_ese2,_DItempf VIr4 font)-tfoouilboar fonttwidgetx) L:"sE)sa"M)currk])Object=ilbrge''lbrnearest( fontty)x) L:"sE)sa"M)()l Itemspf VI)currk])Object)-HardLmG_esCdgo*Itempf VIr4 font)-tfoouilboar fonttwidgetx) L:"sE)sa"M)showHelppf VI)currk])Object+ ". ,"8lbrge''lbrnearest( fontty))-HardLmG_evarixmeaItempf VIr4 font)-tfoouilboar fonttwidgetx) L:"sE)sa"M)showHelppf VI)currk])Object+ ". ,"8lbrge''lbrnearest( fontty))-Hsk(msg_: UT_DE)--------------- UhisTestang-tfooui""" T aresavers UhisTestang"="is8lavar1yh56is8lamG_eGene #**Ct _)-tfoouirtdssaay() UT_DavmG_esCdgd1Ct _)-tfoouirtds"="sCdgo* 1e:est"="is8lartdssaay() UTtestangDarTestangUsks.)fin( r_IIspfmRG('testang',)sks.)fin(.m): loop(sk77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)uanvas/7777777777777777777777777777777777777777777777777777777777777777777777777777777777770043220465344666134h"16063./ 00000T0323572344-13576 5777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777701006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)uanvas/GLuanvasf/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTT72TT03220465344666134h"16063./ 0664344447761623-15672t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777br_0foguiluanvas2lffmpor* bOrr GL.GL2lffmpor* bOrr GL.GLUT2lffmpor* bOrr GL.Tk2lffmpor* #oA basic GL2widgetvwiG sCvmG_as:G: UhisGLuanvas(uanvas)-tfmG_eGene #**Ct _ #widG: 20mlohets: 20mlodboar1, depG: 1)T_DwinuanvasGene #**Ct _ #widlohetssks.)fea"MtwinoC2Orr gl(widG: widlohets: hets, doumea: db, depG: depsks.)fea"MtwintredrawL=r_aRArredraw====:ea"Mtwint00anch,0 = "' o u,Rexpt *uC21r4iNi : 'bothu)====:elfso0 = "IntVar(AB_N)w"") r4L:elfso0 .seU(GL_EXPpf 8mG_eWIitpf VItmolhbhglMrifif(GL_FRONTloGL_AMBIENTlo[0lo0lo0lo1.])f VIrglMrifif(GL_FRONTloGL_DIFFUSE,2[0.61424lo0.m4136lo0.m4136lo1.0])f VIrglMrifif(GL_FRONTloGL_SPECULAR,2[0.727811lo0.626959lo0.626959lo1.0])f VIrglMrifif(GL_FRONTloGL_SHININESSlo0.6 * 128.0 r4L:ltsgrayuC2(0.75lo0.75lo0.75lo1.0)f VIrgrayuC2(0.5lo0.5lo0.5lo1.0)f VIrdarkgrayuC2(0.25lo0.25lo0.25lo1.0)f VIrckuC2(0lo0lo0) f VIrglLtsfv(GL_LIGHT0loGL_SPECULAR,2ltsgrays;() UTglLtsfv(GL_LIGHT0loGL_DIFFUSE,2grays;() UTglLtsfv(GL_LIGHT0loGL_AMBIENTlocks;(() UTglDisxmea(GL_DITHER)f VIrglEnxmea(GL_DEPTH_TEST)f VIrglDepFunc(GL_LESS)() UTglLtsf(GL_LIGHT0loGL_POSITION,2[0.mlo3.mlo3.mlo0.0])f VIrglLtsMode f(GL_LIGHT_MODEL_LOCAL_VIEWER,2[0.0])f VIrglEnxmea(GL_CULL_FACE)f VIrglEnxmea(GL_LIGHTING)f VIrglEnxmea(GL_LIGHT0)f VIrglEnxmea(GL_COLOR_MATERIAL)f VIrglColorMrifi(GL_FRONT_AND_BACKloGL_DIFFUSEwe"\8 8mG_eredraw8f VIr4otmolhbhglCT Fr(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BITskHsk(msg_: UT_DE)--------------#Ttestoiteout wiG tt *ard.ndg/tusRexamG E---- UhisFog (GLuanvastmolhbhmG_eGene #**Ct _ #widlohetssmolhbh 2# ne #nuanvasolhbh 2GLuanvasGene #**Ct _ #widlohetssks.)f_R# :ddG sCvoersr'itemsks.)f_Rr1yhRadiobutton(text='GL_LINEARu,Ranchor=W,evarixmea=elfso0 ,ro0 r= f(sr_ce_Dlfffffffvalue=GL_LINEAR,Lcommt *="a"Mtse2,_DFog)ks.)f_Rr1s00anch,0 = "' o u,Rexpt *uC21r4iNi : 'bothu)====:"sr2yhRadiobutton(text='GL_EXPu,Ranchor=W,evarixmea=elfso0 ,ro0 r= f(sr_ce_Dlfffffffvalue=GL_EXP,Lcommt *="a"Mtse2,_DFog)ks.)f_Rr2s00anch,0 = "' o u,Rexpt *uC21r4iNi : 'bothu)=olhbhmG_edrawTus(f VIr4x, y, z): r4L:"sglPuihMrix(s;() UT_DglTranslatef(x, y, z);() UT_DglMrifif(GL_FRONTloGL_AMBIENTlo[0.1745lo0.01175lo0.01175lo1.0])f VIr4LglMrifif(GL_FRONTloGL_DIFFUSE,2[0.61424lo0.m4136lo0.m4136lo1.0])f VIr4LglMrifif(GL_FRONTloGL_SPECULAR,2[0.727811lo0.626959lo0.626959lo1.0])f VIr4LglMrifif(GL_FRONTloGL_SHININESSlo0.6 * 128.0 r4L:"sglutSolidTus(0.275lo0.85lo2mlo20 r4L:"sglPopMrix(s=olhbhmG_eredraw8f VIr4otmolhbh 2GLuanvasredraw8f VIr4otolhbh 2sa"MtdrawTus(-4. UT-0.5lo-1.0)_Dwins8sa"MtdrawTus(-2. UT-0.5lo-2.0)_Dwins8sa"MtdrawTus(0. UT-0.5lo-3.0)_Dwins8sa"MtdrawTus(2. UT-0.5lo-4.0)_Dwins8sa"MtdrawTus(4. UT-0.5lo-5.0s=olhbhmG_eWIitpf VItmolhbh 2# call super UhissCdgo* (I#wishversre waava(way to.ndcever?ztmolhbh 2GLuanvasWIitpf VItD() UT_DglEnxmea(GL_FOG)f VIr4LndgColoruC2[0.5lo0.5lo0.5lo1.0]f VIr4LglFogi(GL_FOG_MODEloGL_EXPpf VIr4LglFogf(GL_FOG_COLOR,LndgColorpf VIr4LglFogf(GL_FOG_DENSITYlo0.35pf VIr4LglHint(GL_FOG_HINTloGL_DONT_CARE)f VIr4LglCT FrColor(0.5lo0.5lo0.5lo1.0)_Dwins8HardLmG_ese2,_DFa)pf VItmolhbh 2ffi : elfso0 .geU(sks.)f.2if2ffi :=GL_LINEAR-tfoouiglFogf(GL_FOG_STARTlo1.0)_Dwins8uiglFogf(GL_FOG_END, 5.0)_Dwins8uiglFogi(GL_FOG_MODEloffi)ffx) L:"s8d""1ffi :=GL_EXP:_Dwins8uiglFogi(GL_FOG_MODEloffi)_Dwins8sa"MtwinttkRedraw(sk s8f r_Fa)p5 UT50)_DwMtwintredrawL=rArredraw===WIit(skDwMtwintm): loop(sk777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)uanvas/Gene #**f/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTT72TT03220465344666134h"16063./ 0021144447761623-15714t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# Basenuanvas- UhisG: Uhisuanvas:_DwimG_eGene #**Ct _ #widG: 20mlohets: 20mtmolhbh 2elfwidG: wid====:"sea"Mthets: hets=777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)plot/777777777777777777777777777777777777777777777777777777777777777777777777777777777777770043220465344666134h"16063./ 00000T0120241151-13257 5777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777701006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)plot/Gene #**f/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTT7272TT03220465344666134h"16063./ 00000T0120241151-15356t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)plot/hintonf/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTT721TTTTT03220465344666134h"16063./ 0631544672264244-15167t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# G_GRArS=E)\8:t': UT_D,tfo # Hinton Diagram # G_GRArS=E)\8:t': UT_D,tfo bTtiboid2lffmpor* lffmporosG: UhisHintonnR# PlotHardmG_eGene #**Ct _ #blocksuC21r4titearRiNG_ #widG: 275lomaxvalue : 1.0, datarRiNG_)-tfoo"="is8lArgu,k])s:xx) L:"sblocks:vers tangDnumbid2o"1ffmR #to plot [1]_Dwins8titea:vers titearofvere Plot4_""dow [hinton@$HOSTNAME]_Dwins8wid:vers tangDwidGofvere plot4_""dow [275]_Dwins8maxvalue: Tre maximum mage #udeGofvere plots [1.0]f VIr4Ldata: Tre ffmR#to ne #ializevere plot4_"G[NG_]-tfoo"="is8lea"MtappoarTt,8====:"sea"Mtapp.wm_sux10p'widrawnu)====:"sea"MtwinoC2Top, fol,8====:"sea"Mtmaxvalue=maxvalueolhbh 2elfwid=wid====:"s""1data:ro0 r= f(sblocksuC2wrondata)====:"sea"Mthets: abs(widG/ float(blocks)pf VIr4L""1titearRowNG_hf VIr4L:"ssa"Mtwintwm_titea("hinton@%s:"%fs.getenv('HOSTNAME')pf VIr4L8d.HardLocwro"a"Mtwintwm_titea(titea)====:"sea"Mtuanvas-= Canvas("a"Mtwin,wid=elfwid,hets=ea"Mthets)_Dwins8sa"Mtwintb""d("eCelfch fSize)====:"sea"Mtuanvass00anc{'iNi':'bothu,R'expt *':1,G'hide': 'left'})====:"sea"Mt fon : UT_DE)4L""1data:ro0 r= f(sea"Mtne!ndata)====:"s8d.HardLocwro"a"Mtne!n[1.0] *sblocks)_Dwins8uiHardmG_esetTitea(f VIr4 itea):====:"sea"Mtwintwm_titea(titea)=HardmG_ech fSizepf VIr4 font)-tfooelfwidG: ea"Mtwintwinfo_wid() - 2uif .ge"a"Mtne!nsa"M)(ast)_Dwins8HardmG_eue!pf VIr4ffmtmolhbh 2#dler a copy2o"1ffmCeo wenuanvmodifyvere valuesvndboundavchectibguif .ge"a"Mt(ast = ficolhbh 2ffmR#= fic[:]T_DE)4L""1ea"Mt fon.HardLocwrolabeloar' fon'HardLocwrolast = 'odd'x) L:"s8d.HardLocwrolabeloar'odd'x) L:"swrolast = ' fon'HardLocea"Mt fon : UTf ea"Mt fonx) L:"sblocksizev: abs(elfwidG/ float(wronffmR))pf VIr4Lboarblocksizev/ 2.UT_DE)4LyuC2bT_DE)4Lndvm8 f (wronffmR)).HardLocwroi"1ffmR[v] sea"Mtmaxvalue.HardLocwrong(ffmR[v] =sea"MtmaxvalueHardLocwrong(coloruC2'gray50'x) L:"sE)s8di"1ffmR[v] eCelfch fSize)====:"sea"Mtuanvass00anc{'iNi':'bothu,R'expt *':1,G'hide': 'left'})====:"sea"Mt fon : UT_DE)4L""1data:ro0 r= f(sea"Mtne!ndata)====:"s8d.HardLocwro"a"Mtne!n[1.0] *sufisu*2row_)_Dwins8uiHardmG_esetTitea(f VIr4 itea):====:"sea"Mtwintwm_titea(titea)=HardmG_ech fSizepf VIr4 font)-tfooelfwidG: ea"Mtwintwinfo_wid() - 2uif .ge"a"Mthets: ea"Mtwintwinfo_hets() - 2uif .ge"a"Mtne!nsa"M)(ast)_Dwins8HardmG_eue!pf VIr4ffmtmolhbh 2"a"Mt(ast = fic[:]T_DE)4L""1ea"Mt fon.HardLocwrolabeloar' fon'HardLocwrolast = 'odd'x) L:"s8d.HardLocwrolabeloar'odd'x) L:"swrolast = ' fon'HardLocea"Mt fon : UTf ea"Mt fonx) L:"s""1ea"Mt tuC= ' s'.HardLocwrox_blocksizev: int(elfwidG/ float(ea"Mtufisu+o.5)pf VIr4L8d.HardLocwrox_blocksizev: int(elfwidG/ float(ea"Mtufis)pf VIr4Ly_blocksizev: int(elfhets/ float(ea"Mtrow_)pf VIr4Lx_bv: x_blocksizev/ 2.UT_DE)4Ly_bv: y_blocksizev/ 2.UT_DE)4Lndrm8 f (ea"Mtrow_).HardLocwrondcm8 f (ea"Mtufis).HardLocwrong(f*C2ru*2ea"Mtufisu+ocHardLocwrong(coloruC2"gray%dImimint((ffm[v] /sea"Mtmaxvalue) *sT03.0) fffffffffffffxv: x_blocksizev*suu+ox_bfffffffffffffyv: y_blocksizev*2ru+oy_bfffffffffffffdgerHardLocwrong(:"s""1ea"Mt tuC= 'grid'.HardLocwrong(fff g(ea"Mtuanvasscreaoi_rfmR ea(x -Lx_b,ro0 r= f(sr_ce_Dlfffffffffffffffffffffffffffffffyv-oy_b,ro0 r= f(sr_ce_Dlfffffffffffffffffffffffffffffffxu+ox_b,ro0 r= f(sr_ce_Dlfffffffffffffffffffffffffffffffyv+oy_b,ro0 r= f(sr_ce_DlfffffffffffffffffffffffffffffffwidG: 0,ro0 r= f(sr_ce_DlffffffffffffffffffffffffffffffftagDarlabel,ro0 r= f(sr_ce_DlfffffffffffffffffffffffffffffffiNi : tolor) r4L:"s ffffffff8d.s# sVmro0 r= f(sr_ce_Dlff""1fmim2uC= 1.HardLocwrong(fff g( ffxu+=ox_bfffffffffffffffffffea"Mtuanvasscreaoi_oval(x -Lx_b,ro0 r= f(sr_ce_Dlffffffffffffffffffffffffffyv-oy_b,ro0 r= f(sr_ce_Dlffffffffffffffffffffffffffxu+ox_b,ro0 r= f(sr_ce_Dlffffffffffffffffffffffffffyv+oy_b,ro0 r= f(sr_ce_DlffffffffffffffffffffffffffwidG: 0,ro0 r= f(sr_ce_DlfffffffffffffffffffffffffftagDarlabel,ro0 r= f(sr_ce_DlffffffffffffffffffffffffffiNi : tolor) r4L:"s fffffexcepTro0 r= f(sr_c _csaay() UT_DdgerHardLocwroea"Mtuanvassde te((ast)_Dwins8excepTro0 r= f(ssaay() UT_D)u (c/ea"Mtwinttk.doG_ font(2): paay("\8mG_edestroy(f VItmolhbh 2elfwintdestroy()-Hsk(msg_: UT_DE)---------------marix1 r_Marix(3, 2,R tuC2'grid'lomaxvalue : 1)----marix3 r_Marix(3, 2,R tuC2'somu,Rmaxvalue : 1)----marix1tne!n[0.mlo1.0lo.5lo0. UT.74lo.5])----marix3tne!n[0.mlo1.0lo.5lo0. UT.74lo.5])----marix2 r_Marix(4, 2,R tuC2'somu,Rmaxvalue : 5)----vuC2[1.mlo1.0lo0.mlo1.0lo1.0lo1.0lo1.0lo5.0lo5.0]----marix2tne!nv)----marix1twintm): loop(sk7777777777777777777777777777777777777777777777777777777777777ui)plot/scatoid.f/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTT721TTTT03220465344666134h"16063./ 21665T0314537024-15321t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# G_GRArS=E)\8:t': UT_D,tfo # Scatoid Plotoid # G_GRArS=E)\8:t': UT_D,tfo bTtiboid2lffmpor* lffmporosG: UhisLiG_hf VIrmG_eGene #**Ct _ #x, y, liG_Id, _ft Id)-tfoouielfxv: x-tfoouielfyv: y-tfoouielfliG_IdDarliG_Idx) L:"sE)ea"Mtpft IdDarpft IdG: UhisScatoidnR# PlotHardrmG_eGene #**Ct _ #ysCoanduC2[T03,] #xLabeloar'Xu,RyLabeloar'Y',ro0 r= f(sr_ce_DlftitearRiNG_ #lege *uC2[NG_ #] #widG: 275lohets: 20mlro0 r= f(sr_ce_DlfliG_uir])*C21r4xStG: 0.0loxE *uC21.0loyStG: 0.0loyE *uC21.0)-tfoouielfcoloruC2['bluSu,R'rdd',G'green',G'yellow',G'o f',ro0 r= f(sr_ce_Dlffffff'ck',_'azure',G'etse',G'rown',G'uiral',ro0 r= f(sr_ce_Dlffffff'gold',G'ivory',_'moccasin',G'navy',G'halmon',ro0 r= f(sr_ce_Dlffffff'(an',G'ivory',2'pink',2'vio t',G'uyan',ro0 r= f(sr_ce_Dlffffff'magenta',_'aquamariG_',_'khaki',G'hea green',G'hTf pink',ro0 r= f(sr_ce_Dlffffff'sienna',_'tomao',G'o chid'lo'uirnflowid2bluSu,R'deep sky2bluSu,ro0 r= f(sr_ce_Dlffffff'ndestogreen',G'rosy2brown']xx) dddddd"a"M)appoarTt,8====:"s"sea"Mtapp.wm_sux10p'widrawnu)====:"s"sea"MtwinoC2Top, fol,8====:"s4L""1titearRowNG_hf VIr4L:"s "ssa"Mtwintwm_titea("scatoid@%s:"%fs.getenv('HOSTNAME')pf VIr4L .8d.HardLocwrong(g""sewintwm_titea(titea)====:"s 2elfwidG: wid====:"s"sea"Mthets: hets=L:"sE)4Lsa"Mt:iteauC2 itea-tfoouielfxBorderuC230-tfoouielfyBorderuC230-tfoouielfplotHets: ea"Mthets - 2u*2ea"MtyBorderu# /smax valueHardLocwrelfplotWidG: ielfplotHets# /smax valueHardLocwrelfxStG: xStHardLocwrelfxE *uC2xE *-tfoouielfyStG: yStHardLocwrelfyE *uC2yE *-tfoouielfliG_uir])*C2liG_uir])-tfoouielflege *uC2lege *-tfooui# G_GRArS=E)\8:t': UT_D,tfo tfoouielfliG_Cir])*C2elfliG_uir])====:"s"sea"MthisuC2[0]u*2ea"MtliG_uir])*#actufi hisuof2liG_====:"s"sea"MthisanduC2hisand[:])# hisanduuir])svndeach2liG_====:"s"sea"MtfrstEveruC2[0]u*2ea"MtliG_uir]) tfoouielflasuC2[0]u*2ea"MtliG_uir])-tfoouielfcor])*C2[0]u*2ea"MtliG_uir])-tfooui3-vmem8 faf VI.liG_uir]))-tfoouirtdssa"Mthis[i]*C2[0]u*2hisand[i]-tfoouirtdssa"MtfrstEver[i]*C21-tfoouirtdssa"Mtlas[i]*C20-tfoouirtdssa"Mtuir])[i]*C20--tfooui# widG- 2u*2ea"MtxBorderu# /smax valueHardLocwr# bckground-tfoouielfcanvas-= Canvas("a"Mtwin, wid=wid, hets=hets)_Dwins8s8sa"Mtwintb""d("eCelfch fSize)====:"s"sea"Mtuanvass00anc{'iNi':'bothu,R'expt *':1,G'hide': 'left'})====:"s"sea"Mtne #*graphicsctx) L:"sE)HardrmG_ene #*graphicsct _)-tfoouielfuanvassde te('graphu)====:"s"sea"Mtuanvassde te('objectu)====:"s"sea"Mtuanvasscreaoi_rfmR ea(ea"MtxBorder,2ea"MtyBorder,ro0 r= f(sr_ce_Dlfffffffffffffffffffffea"MtxBorderu+relfplotWid,ro0 r= f(sr_ce_Dlfffffffffffffffffffffea"Mthets - ea"MtyBorder,ro0 r= f(sr_ce_DlffffffffffffffffffffftagDar'graphu,ro0 r= f(sr_ce_DlfffffffffffffffffffffwidG: 1r4iNi=')u teu)====:"s"s#2 itea-tfoouielfuanvasscreaoi_text(elfwidG/ 2. UT13,ro0 r= f(sr_ce_DlfffffffffffffffftagDar'graphu,ro0 r= f(sr_ce_Dlfffffffffffffffftext=sa"Mt:itear4iNi='ck')====:"s"s#2lege *-tfooui3-vmem8 faf VI.liG_uir]))-tfoouirtdssa"Mtuanvasscreaoi_rfmR ea(ea"MtxBorderu+relfplotWidu+r5lro0 r= f(sr_ce_Dllllllllllllllllllllllllllea"MtyBorderu+mem*o2mlro0 r= f(sr_ce_Dllllllllllllllllllllllllllea"MtxBorderu+relfplotWidu+r5u+r15lro0 r= f(sr_ce_Dllllllllllllllllllllllllllea"MtyBorderu+mem*o2mu+r15lro0 r= f(sr_ce_DlllllllllllllllllllllllllltagDar'graphu,ro0 r= f(sr_ce_DlfffffffffffffffffffffffffwidG: 1r4iNi=elfcolor[i])-tfoouirtdssa"Mtuanvasscreaoi_text(elfxBorderu+relfplotWidu+r5u+r2mlro0 r= f(sr_ce_Dlllllllllllllllllllllea"MtyBorderu+mem*o2mu+r8lro0 r= f(sr_ce_Dllllllllllllllllllllltext=sa"Mtlege *[i]r4iNi='ck'lro0 r= f(sr_ce_DllllllllllllllllllllltagDar'graphu,ro0 r= f(sr_ce_Dlffffffffffffffffffffanchor='wu)====:"s"s#2 ext====:"s"stickuC20.U fffffffffxtick_labeloarelfxStfffffffff)u (c/ticku=o0.m-tfoouirtdssa"Mtuanvasscreaoi_text(10, ea"MtyBorder +relfplotHets*/ticklro0 r= f(sr_ce_DllllllllllllllllllllltagDar'graphu,ro0 r= f(sr_ce_Dlfffffffffffffffffffftext=ytick_labelr4iNi='ck')====:"s"srtdssa"Mtuanvasscreaoi_liG_(elfxBorderu- 5lro0 r= f(sr_ce_DlllllllllllllllllllllelfyBorder +relfplotHets*/ticklro0 r= f(sr_ce_DlllllllllllllllllllllelfxBorderu+r5lro0 r= f(sr_ce_DlllllllllllllllllllllelfyBorder +relfplotHets*/ticklro0 r= f(sr_ce_DllllllllllllllllllllltagDar'graphu,ro0 r= f(sr_ce_DlffffffffffffffffffffwidG: 2r4iNi='ck')====:"s"srtdsticku-C21.0G/ 4.0-tfoouirtdsytick_labelo+C2(elfyE *u-relfySt)G/ 4.0-tfooui#sa"Mtuanvasslowid('graphu)====:"s"sssssHardrmG_ech fSizepf VIr4 font)-tfoooelfwidG: ea"Mtwintwinfo_wid() ====:"s"sea"Mthets: ea"Mtwintwinfo_hets() -tfoouielfplotHets: ea"Mthets - (2u*2ea"MtyBorder)u# /smax valueHardLocwrelfplotWidG: ielfplotHets# /smax valueHardLocwrelfne #*graphicsctx) L:"sE)ssssHardrmG_esetTitea(f VIr4 itea):====:"s"sea"Mtwintwm_titea(titea)=HardrmG_eGxpf VIr4fal):====:"s"sffi : (ffi -relfxSt)G/ (elfxE *u-relfxSt)====:"s"sreturnmint(ffi *relfplotWid) +relfxBorder=HardrmG_eGypf VIr4fal):====:"s"sffi : (ffi -relfySt)G/ (elfyE *u-relfySt)====:"s"sreturnmint(elfplotHets- ffi *relfplotHets+2ea"MtyBorder)=HardrmG_ecT Fr(t _)-tfoouielfuanvassde te('objectu)=HardrmG_eaddPoint(elf #x, y, liG_G: 0, flusG: 1)T_Dwinnnnn""1ea"Mtuir])[liG_]u>=oea"Mthisand[liG_]-tfoouirtdssa"Mtuir])[liG_]uC20-tfooui#)""1 rsre isfan old oG_Grsre, de teoitx) L:"sE)""1 t("a"Mthis[liG_][sa"Mtuir])[liG_]]) !C2 t(1)-tfoouirtdssa"Mtuanvassde te( "a"Mthis[liG_][sa"Mtuir])[liG_]]liG_IdD)====:"s"srtdssa"Mtuanvassde te( "a"Mthis[liG_][sa"Mtuir])[liG_]]pft IdD)x) L:"sE)""1 t("a"Mtlas[liG_]) !C2 t(1)-tfoouirtdslas_x: ea"MtGxpf VItlas[liG_].x)-tfoouirtdslas_y: ea"MtGypf VItlas[liG_].y)====:"s"srtdssa"Mtuanvassde te( "a"Mtlas[liG_]._ft Id)====:"s"srtdstgerHardLocwrong(:"s "a"Mtlas[liG_]._ft Id: ea"Mtuanvasscreaoi_oval(las_x- 2rro0 r= f(sr_ce_Dlfffffffffffffffffffffffffffffffffffffffffffffffffflas_y- 2rro0 r= f(sr_ce_Dlfffffffffffffffffffffffffffffffffffffffffffffffffflas_xu+o2rro0 r= f(sr_ce_Dlfffffffffffffffffffffffffffffffffffffffffffffffffflas_y+o2rro0 r= f(sr_ce_DlffffffffffffffffffffffffffffffffffffffffffffffffffwidG: 0,ro0 r= f(sr_ce_DlfffffffffffffffffffffffffffffffffffffffffffffffffftagDar'objectu,ro0 r= f(sr_ce_DlffffffffffffffffffffffffffffffffffffffffffffffffffiNi : 'uiral') r4L:"s fffffexcepTro0 r= f(sr_c _cssaay() UT_DavtgerHardLocwrong(my_x: ea"MtGxpx)-tfoouirtdsmy_y: ea"MtGypy)====:"s"srtds""1ea"MtfrstEver[liG_]-tfoouirtdsssssea"MtfrstEver[liG_]*C20-tfoouirtdssssslid: -1-tfoouirtds8d.HardLocwrong(fff las_x: ea"MtGxpf VItlas[liG_].x)-tfoouirtdsfff las_y: ea"MtGypf VItlas[liG_].y)====:"s"srtdssssslid: sa"Mtuanvasscreaoi_liG_(las_x,ro0 r= f(sr_ce_Dlfffffffffffffffffffffffffffffflas_y,ro0 r= f(sr_ce_Dlffffffffffffffffffffffffffffffmy_x,ro0 r= f(sr_ce_Dlffffffffffffffffffffffffffffffmy_y,ro0 r= f(sr_ce_DlffffffffffffffffffffffffffffffwidG: 1rro0 r= f(sr_ce_DlfffffffffffffffffffffffffffffftagDar'objectu,ro0 r= f(sr_ce_DlffffffffffffffffffffffffffffffiNi : '(an')====:"s"srtdspid: sa"Mtuanvasscreaoi_oval(my_x- 3,ro0 r= f(sr_ce_Dlffffffffffffffffffffffffffmy_y- 3,ro0 r= f(sr_ce_Dlffffffffffffffffffffffffffmy_xu+o3,ro0 r= f(sr_ce_Dlffffffffffffffffffffffffffmy_y+o3,ro0 r= f(sr_ce_DlffffffffffffffffffffffffffwidG: 0,ro0 r= f(sr_ce_DlfffffffffffffffffffffffffftagDar'objectu,ro0 r= f(sr_ce_DlffffffffffffffffffffffffffiNi : elfcolor[liG_])-tfoouirtdssa"Mthis[liG_][sa"Mtuir])[liG_]] : LiG_(x, y, lid, _id)-tfoouirtdssa"Mtlas[liG_] =ssa"Mthis[liG_][sa"Mtuir])[liG_]]-tfoouirtdssa"Mtuir])[liG_]u+C21-tfoouiexcepTro0 r= f(sr_csaay() UT_Dds""1flus.HardLocwrong(g""sewintne!lfd tasksctxHong(mG_eue!pf VI)-tfooui)u (c/ea"Mtwinttk.doG_ font(2): paay("\8mG_edestroy(f VItmolhbh 2 2elfwintdestroy()-Hsk(msg_: UT_DE)--------------- spoarScatoidctx) L:brandblffmporrandx) L:or ym8 fa100)-tfoouior xm8 fa10)-tfoouirtdssp.addPoint(rand(), rand())-tfoouirtdssp.ue!p)---- sptwintm): loop(sk777777777777777777777777777777777777777777777777777777777777777777777777777ui)plot/simG Ef/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTT721TTTTT03220465344666134h"16063./ 06751T0120241151-15133t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# G_GRArS=E)\8:t': UT_D,tfo # SamG E Plotoid # G_GRArS=E)\8:t': UT_D,tfo lffmporTtiboid lffmporrandxbr_0forobottdeviceblffmporDeviceG: UhisSimG EPlot(Device) fffffCOLORSuC2['bluSu,R'rdd',G'(an',G'yellow',G'o f',G'ck',ro0 r= f(sr_ce_'azure',G'etse',G'rown',G'uiral',G'gold',G'ivory',ro0 r= f(sr_ce_'moccasin',G'navy',G'halmon',G'(an',G'ivory']HardLmG_eGene #**Ct _ #robot,Gwhat #widG: 40mlohets: 120)-tfoouiDeviceGene #**Ct _ #"view"lo0)i#)1 r_visibea-tfoouielfwidG: wid====:"s"sea"Mthets: hets=L:"sE)4Lsa"MtwhatG: what=L:"sE)4Lsa"MtrobotrRirobotGr4L:"sE)_aRArdataMin*C20-tfooui_aRArdataMaxrRirobot.geU('robotu,R'r f',G'maxvalueu)====:"s"sea"MtdataW""dowSizev: 40m====:"s"sea"MtdataSamG E C21-tfoouiea"MtdataCir])*C2m====:"s"sea"MtlasRun*C20-tfooui_aRArdataHisuC2[0]u*2ea"Mtrobot.geU('robotu,R'r f',G'uir])u)====:"s"sea"MtdevData["source"] =ssa"Mtwhat=L:"sE)4Lsa"MttDevice,8====:"s"sea"MtdlerW""dow()-ardLmG_edlerW""dow(f VItmolhbh 2 2dgerHardLocwrong(ea"Mtwintsux10p)-tfoouirtdsok C21-tfoouiexcepTro0 r= f(sr_cok C20-tfoouisk(okrHardLocwrong(ea"Mtwintdeiconify()-tfoouirtdssa"MtsetVisibea(1pf VIr4L .8d.HardLocwrong(tgerHardLocwrong(:"s "a"MtwinoC2Ttiboid.Top, fol,8====:"s4LouiexcepTro0 r= f(sr_ccccc======"P_0f viewnuanUTf dler _""dow. Chect DISPLAYevarixmea."HardLocwrong(:"s "a"MtsetVisibea(0)====:"s"srtdsssssreturnHardLocwrong(ea"Mtwinttitea("P_0f view: %s8 f sensorsImimsa"Mtwhat)====:"s"srtdssa"Mtuanvas = Ttiboid.Canvas("a"Mtwin,wid=elfwid,hets=ea"Mthets)_Dwins8"srtdssa"Mtuanvass00anctx) L:"sE)ong(ea"Mtwintwinfo_top, fol,8tprototol('WM_DELETE_WINDOW',ea"MthidrW""dow)-tfoouirtdssa"MtsetVisibea(1pf VIrmG_ehidrW""dow(f VItmolhbh 2 2elfsetVisibea(0)====:"s"sea"Mtwintwidraw(sks.)fmG_eue!W""dow(f VIr4o opon( r_{}sn t c 2# doG sCdgehioodrawvyourf VIks.)f.2E)""1ea"MtdataCir])*>sea"MtdataW""dowSize-tfoouirtdssa"Mtuanvassde te('data1')====:"s"srtdssa"Mtuanvassmova("data2"lo-elfwid/2lo0) ===:"s"srtdssa"Mtuanvassitemcf UT_ure("data2"lotagDar"data1") ===:"s"srtdssa"MtdataCir])*C2ea"MtdataW""dowSizev/ 2uif .ge .8d.HardLocwrong(g""sedataCir])*+C21-tfoouiress*C2ea"Mtrobot.geU('robotu,R'r f',Gsa"Mtwhat,2'valuepos')====:"s"sor pairm8 ess.HardLocwrong(disuC2pair["value"]-tfoouirtdssansoruC2pair["pos"]-tfoouirtds""1ea"MtdataCir])*<2ea"MtdataW""dowSize/2Tro0 r= f(sr_ccccctagDar"data1"-tfoouirtds8d.HardLocwrong(fff tagDar"data2" ===:"s"srtdssa"Mtuanvasscreaoi_liG_(elfdataCir])*- 1rro0 r= f(sr_ce_Dlffffffffffffffffffff_aRArdataHis[sansor]rro0 r= f(sr_ce_Dlffffffffffffffffffff_aRArdataCir])rro0 r= f(sr_ce_Dlffffffffffffffffffffint(float(dis)/_aRArdataMaxr*sT03.0)lro0 r= f(sr_ce_Dllllllllllllllllllllltags*C2tag,ro0 r= f(sr_ce_DlffffffffffffffffffffwidG: 2rro0 r= f(sr_ce_DlffffffffffffffffffffiNi : SimG EPlot.COLORS[sansor]) ===:"s"srtdssa"MtdataHis[sansor] =fint(float(dis)/_aRArdataMaxr*sT03.0*- 1)====:"s"sea"Mtwintne!lfd tasksctxHsk(msg_: UT_DE)--------------- UhisRobot.HardLocwrmG_eGene #**Ct _)-tfoouirtdsea"Mtgroup( r_{'aNi':2(0l1)}HardLocwrmG_egeU(f VIr4 1rRiNG_ #t2rRiNG_ #t3 RiNG_)-tfoooooooo""1 1_DE)"r f" t *ut2uC= "uir])".HardLocwrong(fff returnm2-tfoouirtds8d""1 1_DE)"r f" t *ut2uC= "maxvalue".HardLocwrong(fff returnm10.0-tfoouirtds8d.HardLocwrong(fff returnmint(rand.rand()r*sT0)====:plot4: SimG EPlot(Robot(), 'aNi')x) L:or em8 fa2500)-tfoouiplotredraw8)====:p====="DG_!"====:plottm): loop(sk77777777777777777777777ui)renderer/77777777777777777777777777777777777777777777777777777777777777777777777777777777770043220465344666134h"16063./ 00000T0323572344-14131 5777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777701006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)renderer/Gene #**f/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTTTT03220465344666134h"16063./ 0"16744643737727416264t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777 UhisRenderer-tfo"""abstract iboide:or all dgehisRenderxmea"="ismG_eGene #**Ct _)-tfooraise "abstract sCdgo* calledm8Renderer"ismG_exormPuih(f VIr4dummy)-tfooraise "abstract sCdgo* calledm8Renderer"ismG_exormPopCt _)-tfooraise "abstract sCdgo* calledm8Renderer"ismG_exormRotpf VIr(qty,pt))-tfooraise "abstract sCdgo* calledm8Renderer"ismG_exormXlpf VIr(pt))-tfooraise "abstract sCdgo* calledm8Renderer"ismG_exormScalpf VIr(scal))-tfooraise "abstract sCdgo* calledm8Renderer"ismG_esetLocaoponpf VIrx,y,z,th ta)-tfooraise "abstract sCdgo* calledm8Renderer"ismG_ecolorpf VIr(tolor))-tfooraise "abstract sCdgo* calledm8Renderer"ismG_eraypf VIr(pta,ptb,arc))-tfooraise "abstract sCdgo* calledm8Renderer"ismG_eliG_(elfr(pta,ptb))-tfooraise "abstract sCdgo* calledm8Renderer"ismG_ecircl_(elfr(pt,norm,radius))-tfooraise "abstract sCdgo* calledm8Renderer"ismG_etri ea(ea"Mr(pta,ptb,ptc))-tfooraise "abstract sCdgo* calledm8Renderer"ismG_etext(elfr(str))-tfooraise "abstract sCdgo* calledm8Renderer"ismG_erfmR ea(ea"Mr(pta,ptb,ptc))-tfooraise "abstract sCdgo* calledm8Renderer"ismG_ebox(ea"Mr(pta,ptb, ptc, ptd))-tfooraise "abstract sCdgo* calledm8Renderer"ismG_etus(f VIr4(irr4ora, n, r))-tfooraise "abstract sCdgo* calledm8Renderer"ismG_epolygonpf VIr*args)-tfooraise "abstract sCdgo* calledm8Renderer"ismG_ecT FrStpf VIr4dummy)-tfooraise "abstract sCdgo* calledmt8Render"ismG_ecT FrColorpf VIr tolor)-tfooraise "abstract sCdgo* calledmt8Render"ik777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)renderer/glf/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTT721TTTTT03220465344666134h"16063./ 1104444643737727415126t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777br_0foui.renderer2lffmpor* bOpenGL.GL2lffmpor* bOpenGL.GLUT2lffmpor* #bOpenGL.Tk2lffmpor* bmath2lffmporsin, cosG: UhisGLRenderer(Renderer):_DwimG_eGene #**Ct _tmolhbh 2elfblue : (0.1lo0.1lo0.9lo1.)====:"sea"Mtdarkred : (0.6lo0.1lo0.1lo1.0)_Dwins8ea"Mtred : (1.0lo0.mlo0.mlo1.0)_Dwins8ea"MtltsgrayuC2(0.75lo0.75lo0.75lo1.0)f VIrdsea"MtgrayuC2(0.5lo0.5lo0.5lo1.0)f VIr"sea"MtdarkgrayuC2(0.25lo0.25lo0.25lo1.0)8HardmG_exormPuih(f VIr4dummy)-tfooglPuihMrix(sismG_exormPopCt _r4dummy)-tfooglPopMrix(s=smG_exormRotpf VIr(qty, pt))-tfoo# qty Specifiesvers eauof2rotpon,m8degrees.-tfooglRotf(qty,pt[0],pt[1],pt[2]s=smG_exormXlpf VIr(pt))-tfooglTranslatef(pt[0],pt[1],pt[2]s=smG_exormScalpf VIr(scal))-tfooglScalf(scal,scal,scals=smG_esetLocaoponpf VIrx,y,z,th ta)- glTranslate(x,y,z)- glRotpth ta,0,1,0s=smG_ecolorpf VIr(tolor))-tfoo#glMrififv(GL_FRONTloGL_DIFFUSE,2[color[0],ecolor[1],ecolor[2]lo0.])f VIr4LglColor3fv(tolor)8HardmG_eraypf VIr (pta, ptb, arc))-tfoop 1rRi[mlo0lo0]-tfoop 2rRi[mlo0lo0]-tfoop 3rRi[mlo0lo0]-tfoop 4rRi[mlo0lo0]-tfoo# arcuoffuof2pta, 8 di s-tfoop 1[0]u=2pta[0] *sufs(arc) +2pta[1]u*2ein(arc)-tfoop 1[1]u=2pta[1] *sufs(arc) -2pta[0] *sein(arc)-tfoop 1[2]u=2pta[2]u-tfoo# arcuoffuof2pta, 8 di s-tfoop 2[0]u=2pta[0] *sufs(-arc) +2pta[1]u*2ein(-arc)-tfoop 2[1]u=2pta[1] *sufs(-arc) -2pta[0] *sein(-arc)-tfoop 2[2]u=2pta[2]u-tfoo# arcuoffuof2pta, 8 di s-tfoop 3[0]u=2ptb[0] *sufs(arc) +2ptb[1]u*2ein(arc)-tfoop 3[1]u=2ptb[1] *sufs(arc) -2ptb[0] *sein(arc)-tfoop 3[2]u=2ptb[2]u-tfoo# arcuoffuof2pta, 8 di s-tfoop 4[0]u=2ptb[0] *sufs(-arc) +2ptb[1]u*2ein(-arc)-tfoop 4[1]u=2ptb[1] *sufs(-arc) -2ptb[0] *sein(-arc)-tfoop 4[2]u=2ptb[2]u-tfooea"Mtpolygonp(pt1, pt2, pt4, pt3)s=smG_eliG_(elfr (pta, ptb))-tfooraise "abstract sCdgo* calledm8Renderer"ismG_ecircl_(elfr(pt,norm,radius))-tfooraise "abstract sCdgo* calledm8Renderer"ismG_etri ea(ea"Mr(pta,ptb,ptc))-tfooglBegin(GL_TRIANGLES);f VIrdsea"MtglNormal(elfnormal_ffmR(pta, ptb, ptc));-tfooglVertex3fv(ptatD() UT_DglVertex3fv(ptbtD() UT_DglVertex3fv(ptctD() UT_DglEnd();-tfomG_etext(elfr (str))-tfoondcm8str.HardLocwroglutBitmapCharacter(GLUT_BITMAP_HELVETICA_12, c);-tfomG_egetFourthPoint(elf pta,ptb,ptc)-tfooreturnm(pta[0]-ptb[0]+ptc[0],pta[1]-ptb[1]+ptc[1],pta[2]-ptb[2]+ptc[2]us=smG_enormalizepf VIr4out)-tfoolffmpormath-tfootgerHardLocwrolengG: math.sqrt((out[0] *sout[0]) +2\ro0 r= f(sr_ce_Dlffffffffffff(out[1] *sout[1]) +2\ro0 r= f(sr_ce_Dlffffffffffff(out[2] *sout[2]s)_Dwins8excep OverflowErrorrHardLocwrolengG: 1-tfooifolengG:= 0:olengG: 1-tfooout[0] /=oleng-tfooout[1] /=oleng-tfooout[2] /=oleng-tfooreturnmoutx) LmG_eglNormal(elfr4out)-tfooglNormal3f(out[0],oout[1],sout[2]s=smG_enormal_ffmR(elfr4pta, ptb, ptc)-tfoox, y, zG: 0, 1, 2-tfoov1rRi[mlo0lo0]-tfoov2rRi[mlo0lo0]-tfoooutrRi[mlo0lo0]-tfoonddimm8 fa3)-tfooooov1[dim]u=2pta[dim]u-2ptb[dim]-tfooooov2[dim]u=2ptb[dim]u-2ptc[dim]-tfooout[x]u=2v1[y] *sv2[z]u-2v1[z] *sv2[y]-tfooout[y]u=2v1[z] *sv2[x]u-2v1[x] *sv2[z]-tfooout[z]u=2v1[x] *sv2[y]u-2v1[y] *sv2[x]-tfooreturnmelfnormalizepout)ismG_erfmR ea(ea"Mr (pta, ptb, ptc))-tfoop d: sa"MtgetFourthPoint(pta,ptb,ptc)-tfooglBegin(GL_QUADS)f VIrdsea"MtglNormal( elfnormal_ffmR(pta, ptb, ptc))-tfooglVertex3fv(ptatD() UT_DglVertex3fv(ptbtD() UT_DglVertex3fv(ptctD() UT_DglVertex3fv(ptdtD() UT_DglEnd()ismG_ebox(ea"Mr(pta,ptb,ptc,ptd))-tfoopte: sa"MtgetFourthPoint(pta,ptb,ptc)-tfooptf: sa"MtgetFourthPoint(ptb pta,ptd)-tfooptg: sa"MtgetFourthPoint(ptc,ptb,ptf)_Dwins8ea"MtremR ea((pta,ptb,ptc))_Dwins8ea"MtremR ea((ptb pta,ptd))_Dwins8ea"MtremR ea((ptc,ptb,ptf))_Dwins8ea"MtremR ea((pte,ptc,ptg))_Dwins8ea"MtremR ea((ptd pta,pte))_Dwins8ea"MtremR ea((ptg,ptf,ptd))_Dwins8ea"MtremR ea((pte,ptc,ptg))_DwimG_etus(f VIr4(irr4ora, n, r))-tfoo#innerRadiusu-2Inner radiusGofvere tus.u-tfoo#outerRadiusu-2Outer radiusGofvere tus.u-tfoo#nhidesu-2Numbid2o"1hidesundeach2 di l8eacopon.u-tfoo#rehis-2Numbid2o"1 di l8division( ndere tus.u-tfooglutSolidTus(irr4ora, n, r)ismG_epolygonpf VIr*args)-tfooargs: args[0]-tfooea"MtglNormal(elfnormal_ffmR(args[0], args[1], args[2]s);-tfooglBegin(GL_POLYGON)_Dwins8or pm8args.HardLocwroglVertex3fv(p)() UT_DglEnd()ismG_ecT FrStpf VIr4dummy)-tfoosaay() UmG_ecT FrColorpf VIr tolor)-tfooglCT FrColorpcolor[0],color[1],color[2]lo0)-tfooglCT Fr(GL_COLOR_BUFFER_BIT)-tfok77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)renderer/streamsf/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTT7TT03220465344666134h"16063./ 0575744643737727416220t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777lffmporstrehi #bpickle2lffmpor* bcPickle2lffmpor* br_0foui.renderer2lffmporRendererG: UhisGenericStream:_DwimG_eGene #**Ct _tmolhbh 2elfsux1us C20-tfoo_aRArdataDar''HardLocea"MtliG_s C2[]-tfooea"Mtcopy2C2[]-tfomG_ewripf VIr4argtmolhbh 2elfdataD+: argismG_erfadpf VIr4n)-tfool_en >2wronea"MtliG_s[0]).HardLocwroraise EOFError_Dwins8ed.HardLocwroretffi : ea"MtliG_s[0][:n]-tfoooooea"MtliG_s[0] : ea"MtliG_s[0][n:]HardLocwroreturnmretffiismG_erfadliG_(elf)-tfooretffi : ea"MtliG_s[0]HardLocea"MtliG_s C2ea"MtliG_s[1:]-tfooreturnmretffi + '\012'ismG_eopronea"M,R ttmolhbh 2elfGene #Ct _tx) L:"ssaay() UmG_ecTos"pt _) #ecTos" it, t *unowvyounuanvrfad:bitx) L:"sl_enTf ea"Mtsux1usrHardLocwroea"MtliG_s C2etrehi.spl #Ct _data, '\012')HardLocwroea"MtdataDar''HardLocoea"Mtcopy2C2ea"MtliG_s[:]-tfoooooea"Mtsux1us C21ismG_erfseU(f VItmolhbh 2"a"Mt(iG_s C2ea"Mtcopy[:]-: UhisStreamTranslator-tfo"""remeiv_s abpickled render tommt *ustream:bafiNa-tfoot *usendavitooere gifon renderer"="is_DwimG_eGene #**Ct _,stream,renderer,debug: 0tmolhbh 2elfdebug: debugolhbh 2elfsuream:= Unpickler(suream)_Dwins8ea"Mtrenderer2= renderer("\8mG_eprocessct _)-tfoo)u (c/(elfprocess_item()).HardLocwrosaay() UT_D"\8mG_eprocess_item(t _)-tfootgerHardLocwrotommt *,oargs: elfsuream.loadctx) L:"sE)o""1ea"Mtdebug::p====="DEBUG:StreamTranslator,eprocess:",otommt *,oargs-tfoooooea"MtrendererGe Uhis__Gedic#**geU(tommt *)(ea"Mtrenderer,oargs)HardLocwroreturnm1-tfooexcep EOFError: -tfoouirreturnm0 -: UhisStreamRenderer(Renderer):_Dwi"="wris abpickled tommt *ustream:ooafiNa ay() UT_Ddre iboide:is used"="is_DwimG_eGene #**Ct _,iNatmolhbh 2elfsuream:= Pickler(iNat() UT_D"\8mG_exormPuih(f VItmolhbh 2elfsuream.dump(('xormPuih'r4()))_DwimG_exormPopCt _)-tfooelfsuream.dump(('xormPop',()))_DwimG_exormRotpf VIrqty,pt)-tfooelfsuream.dump(('xormRot'r(qty,pt))s=smG_exormXlpf VIrpt)-tfooelfsuream.dump(('xormXl'r(pt))s=smG_exormScalpf VIrscals-tfooelfsuream.dump(('xormScal'r(scal))s=smG_ecolorpf VIrtolor)-tfooelfsuream.dump(('tolor'r(tolor)))ismG_eraypf VIrpta,ptb,arc)-tfooelfsuream.dump(('ray',(pta, ptb, arc))s=smG_eliG_(elfrpta,ptb)-tfooelfsuream.dump(('liG_',(pta,ptb))s=smG_ecircl_(elfrpt,norm,radius)-tfooelfsuream.dump(('tircl_'r(pt,norm,radius)))_DwimG_etri ea(ea"Mr pta,ptb,ptc)-tfooelfsuream.dump(('tri ea'r(pta,ptb,ptc)))_DwimG_etext(elfr(str))-tfooelfsuream.dump(('text'r(str)))ismG_erfmR ea(ea"Mrpta,ptb,ptc)-tfooelfsuream.dump(('rfmR ea'r(pta,ptb,ptc)))_DwimG_ebox(ea"Mrpta,ptb,ptc, ptd)-tfooelfsuream.dump(('box'r(pta,ptb,ptc, ptd)))_DwimG_etus(f VIr4irr4ora, n, r)-tfooelfsuream.dump(('tus'r(irr4ora, n, r)))ismG_epolygonpf VIr*args)-tfooelfsuream.dump(('polygon',args))ismG_ecT FrStpf VI)-tfooelfsuream.dump(('tT FrSt',()))_DwimG_ecT FrColorpf VIr tolor)-tfooelfsuream.dump(('tT FrColor'r(tolor)))ik77777777777777777ui)renderer/tkf/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTT721TTTTT03220465344666134h"16063./ 0706444643740152-15133t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777br_0foui.renderer2lffmpor* bmath2lffmporsin, cosG: UhisTKRenderer(Renderer):_DwimG_eGene #**Ct _tmolhbh 2elfblue : (0.1lo0.1lo0.9lo1.)====:"sea"Mtdarkred : (0.6lo0.1lo0.1lo1.0)_Dwins8ea"Mtred : (1.0lo0.mlo0.mlo1.0)_Dwins8ea"MtltsgrayuC2(0.75lo0.75lo0.75lo1.0)f VIrdsea"MtgrayuC2(0.5lo0.5lo0.5lo1.0)f VIr"sea"MtdarkgrayuC2(0.25lo0.25lo0.25lo1.0)8HardmG_exormPuih(f VIr4dummy)-tfoosaay() UmG_exormPopCt _r4dummy)-tfoosaay() UmG_exormRotpf VIr(qty, pt))-tfoosaay() UmG_exormXlpf VIr(pt))-tfoosaay() UmG_exormScalpf VIr(scal))-tfoosaay() UmG_esetLocaoponpf VIrx,y,z,th ta)-tfoosaay() UmG_ecolorpf VIr(tolor))-tfoosaay() UmG_eraypf VIr (pta, ptb, arc))-tfoop 1rRi[mlo0lo0]-tfoop 2rRi[mlo0lo0]-tfoop 3rRi[mlo0lo0]-tfoop 4rRi[mlo0lo0]-tfoo# arcuoffuof2pta, 8 di s-tfoop 1[0]u=2pta[0] *sufs(arc) +2pta[1]u*2ein(arc)-tfoop 1[1]u=2pta[1] *sufs(arc) -2pta[0] *sein(arc)-tfoop 1[2]u=2pta[2]u-tfoo# arcuoffuof2pta, 8 di s-tfoop 2[0]u=2pta[0] *sufs(-arc) +2pta[1]u*2ein(-arc)-tfoop 2[1]u=2pta[1] *sufs(-arc) -2pta[0] *sein(-arc)-tfoop 2[2]u=2pta[2]u-tfoo# arcuoffuof2pta, 8 di s-tfoop 3[0]u=2ptb[0] *sufs(arc) +2ptb[1]u*2ein(arc)-tfoop 3[1]u=2ptb[1] *sufs(arc) -2ptb[0] *sein(arc)-tfoop 3[2]u=2ptb[2]u-tfoo# arcuoffuof2pta, 8 di s-tfoop 4[0]u=2ptb[0] *sufs(-arc) +2ptb[1]u*2ein(-arc)-tfoop 4[1]u=2ptb[1] *sufs(-arc) -2ptb[0] *sein(-arc)-tfoop 4[2]u=2ptb[2]u-tfor"sea"Mtpolygonp(pt1, pt2, pt4, pt3)s=smG_eliG_(elfr (pta, ptb))-tfooraise "abstract sCdgo* calledm8Renderer"ismG_ecircl_(elfr(pt,norm,radius))-tfooraise "abstract sCdgo* calledm8Renderer"ismG_etri ea(ea"Mr(pta,ptb,ptc))-tfoosaay() UmG_etext(elfr (str))-tfoop=====str() UmG_egetFourthPoint(elf pta,ptb,ptc)-tfooreturnm(pta[0]-ptb[0]+ptc[0],pta[1]-ptb[1]+ptc[1],pta[2]-ptb[2]+ptc[2]us=smG_enormalizepf VIr4out)-tfoolffmpormath-tfootgerHardLocwrolengG: math.sqrt((out[0] *sout[0]) +2\ro0 r= f(sr_ce_Dlffffffffffff(out[1] *sout[1]) +2\ro0 r= f(sr_ce_Dlffffffffffff(out[2] *sout[2]s)_Dwins8excep OverflowErrorrHardLocwrolengG: 1-tfooifolengG:= 0:olengG: 1-tfooout[0] /=oleng-tfooout[1] /=oleng-tfooout[2] /=oleng-tfooreturnmoutx) LmG_eglNormal(elfr4out)-tfoosaay() UmG_enormal_ffmR(elfr4pta, ptb, ptc)-tfoox, y, zG: 0, 1, 2-tfoov1rRi[mlo0lo0]-tfoov2rRi[mlo0lo0]-tfoooutrRi[mlo0lo0]-tfoonddimm8 fa3)-tfooooov1[dim]u=2pta[dim]u-2ptb[dim]-tfooooov2[dim]u=2ptb[dim]u-2ptc[dim]-tfooout[x]u=2v1[y] *sv2[z]u-2v1[z] *sv2[y]-tfooout[y]u=2v1[z] *sv2[x]u-2v1[x] *sv2[z]-tfooout[z]u=2v1[x] *sv2[y]u-2v1[y] *sv2[x]-tfooreturnmelfnormalizepout)ismG_erfmR ea(ea"Mr (pta, ptb, ptc))-tfoop d: sa"MtgetFourthPoint(pta,ptb,ptc)-tfoosaay() UmG_ebox(ea"Mr(pta,ptb,ptc,ptd))-tfoopte: sa"MtgetFourthPoint(pta,ptb,ptc)-tfooptf: sa"MtgetFourthPoint(ptb pta,ptd)-tfooptg: sa"MtgetFourthPoint(ptc,ptb,ptf)_Dwins8ea"MtremR ea((pta,ptb,ptc))_Dwins8ea"MtremR ea((ptb pta,ptd))_Dwins8ea"MtremR ea((ptc,ptb,ptf))_Dwins8ea"MtremR ea((pte,ptc,ptg))_Dwins8ea"MtremR ea((ptd pta,pte))_Dwins8ea"MtremR ea((ptg,ptf,ptd))_Dwins8ea"MtremR ea((pte,ptc,ptg))_DwimG_etus(f VIr4(irr4ora, n, r))-tfoosaay() UmG_epolygonpf VIr*args)-tfooargs: args[0]-tfoo#ea"MtglNormal(elfnormal_ffmR(args[0], args[1], args[2]s);-tfoo#glBegin(GL_POLYGON)_Dwins8#or pm8args.HardLoc# roglVertex3fv(p)() UT_D#glEnd()ismG_ecT FrStpf VIr4dummy)-tfoosaay() UmG_ecT FrColorpf VIr tolor)-tfoo#glCT FrColorpcolor[0],color[1],color[2]lo0)-tfoo#glCT Fr(GL_COLOR_BUFFER_BIT)-tfoosaay() Uk7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)renderer/tty.f/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTT721TTTT03220465344666134h"16063./ 02200467447761623-15335t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777br_0foui.renderer2lffmpor* : UhisTTYRenderer(Renderer):_DwimG_eGene #**Ct _tmolhbh 2saay() UmG_eraypf VIr (pta, ptb, arc))-tfoop====="-> Ray"r4pta, ptb, arcHardmG_exormPuih(f VIr4dummy)-tfoos====="-> PuihMrix"ismG_exormPopCt _r4dummy)-tfoos====="-> PopMrix"ismG_exormRotpf VIr(qty,pt))-tfoop====="-> Rot"ismG_exormXlpf VIr(pt))-tfoop====="-> Translate"r4pt() UmG_exormScalpf VIr(scal))-tfoos====="-> ScaleCecal() UmG_ecolorpf VIr(tolor))-tfoos====="-> Color"r tolor=smG_eliG_(elfr(pta,ptb))-tfoos====="-> LiG_"r4pta, ptbismG_ecircl_(elfr(pt,norm,radius))-tfoos====="-> Circl_"r4pt,enorm, radiusismG_etri ea(ea"Mr(pta,ptb,ptc))-tfoos====="-> Tri ea"r4pta, ptb, ptc() UmG_etext(elfr(str))-tfoop====="-> TexteCetr() UmG_erfmR ea(ea"Mr(pta,ptb,ptc))-tfoop====="-> RfmR ea"ismG_ebox(ea"Mr(pta,ptb,ptc, ptd))-tfoop====="-> Box"ismG_etus(f VIr4(irr4ora, n, r))-tfoop====="-> Tus"ismG_epolygonpf VIr*args)-tfoos====="-> Polygon",oargs-tfomG_ecT FrStpf VIr4dummy)-tfoos====="-> CT Fr"ismG_ecT FrColorpf VIr tolor)-tfoos====="-> CT FrColor"() Ukk7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)viewer/7777777777777777777777777777777777777777777777777777777777777777777777777777777777770043220465344666134h"16063./ 00000T0323572344-13624 5777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777701006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)viewer/Gene #**f/a VieMMO.o:: Vie1053 //=o71444546e 50TTTTTTTTTT03220465344666134h"16063./ 20040467670670556-15753t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777bPIL2lffmporImageTk bTtiboid2lffmpor* bmath2lffmpor* #br_0foui2lffmpordrawxmea lffmporstruct # UhisKheperaViewer(drawxmea.Drawxmea)- UhisKheperaViewer:_Dwi"="_DwiA Uhistf viewnall dgf sensor dataDofvere Khepera at once._Dwi"="__DwimG_eGene #**Ct _,2lfa fSizer tolor=1, radius=25)-tfoo"="_DwiiiiImagesizevneedstf be a (wid, hets) tupear4or NG_.iiIfvitisiNG_ _Dwiiiiwr _"ll hisumeverat rsre isfno camera attached.--tfooI_ecolor isf0,vere KheperaViewer _"ll displaym8grayecal.iiItisiinHardLoccolor byimG_a.--tfooRadiusuisvers radiusGofvere ceboid2Khepera circl_.iiTgf sizevofvere_Dwiiiiwhole vieweruisvcald wierfspfmRooerisvmeasure.-tfoo"="_Dwiiiielflfa fSize =fifa fSize_DwiiiielfappoC2Ttiboid.Tnctx) L:"selfapptwm_sux10p'widrawn')====:"selfwinoC2Top, fol,8====:"sl_enTf ea"Mtifa fSizerHardLocwroea"MtradiusG= radiusis s8ed.HardLocwro#inscribeDdre ifa fm8ere circl_erfprfsentehirs robotGr4L:"sE)oea"MtradiusG= int(eqrt((ifa fSize[0]/2)**2 + (ifa fSize[1]/2)**2)) +23Gr4L:"sE)o""1ea"MtradiusG< radius.HardLocwrowroea"MtradiusG= radiusis s8====:"selfmaxVal( r_{HardLocwro"ir" : 60.0/55.mlo#goehioohisumeverat ir ue #soareRobot( ndnowHardLocwro"lts" : 200.mlo #???HardLocwro"camera" : 255}HardLocwr ====:"sl_ecolor.HardLocwrobgDar'bluSuis s8ed.HardLocwrobgDar')u teu LocwrobgDar'bluSuis s8ea"Mtcanvas-= Canvas("a"Mtwin, hets: ea"Mtrad(7)lro0 r= f(sr_ce_DllllllllllllwidG: ea"Mtrad(7)lobgDarbg8====:"sl_eifa fSizerHardLocwroea"Mtphooo=rImageTk.PhooImage("L",2lfa fSize)HardLocwroea"Mtcamera_viewn: sa"Mtuanvasscreaoi_lfa f(ea"Mtrad(3.5)lro0 r= f(sr_ce_Dllllllllllllllllllllllllllllllllllllllea"Mtrad(3.5)lro0 r= f(sr_ce_Dlllllllllllllllllllllllllllllllllllllllfa f=ea"Mtphoolro0 r= f(sr_ce_Dlllllllllllllllllllllllllllllllllllllltags*C2'camera')====:"sis s8ea"Mtcircl_e: sa"Mtuanvasscreaoi_oval(ea"Mtrad(2.5)lro0 r= f(sr_ce_Dlllllllllllllllllllllllllllllea"Mtrad(2.5)lro0 r= f(sr_ce_Dlllllllllllllllllllllllllllllea"Mtrad(4.5)lro0 r= f(sr_ce_Dlllllllllllllllllllllllllllllea"Mtrad(4.5)lro0 r= f(sr_ce_DllllllllllllllllllllllllllllliNi : ')u teulro0 r= f(sr_ce_Dllllllllllllllllllllllllllllltags*C2'circl_')====:"selfir_circl_e: []-tfooir_ts C2[ro0 r= f(s160.mlo#0-tfoouir125.mlo#1-tfoouir95.mlo #2-tfoouir75.mlo #3Gr4L:"sE)o45.mlo #4-tfoouir10.mlo #5-tfoouir280.mlo#6-tfoouir250.m] #7 ====:"sl_ecolor.HardLocwroiNi : 'rdd'HardLocwroetipG E C2'uis s8ed.HardLocwroiNi : ')u teuHardLocwroetipG E C2'gray75uHardLocor em8 fa8)rHardLocwroea"Mtir_circl_appendpf VItuanvasscreaoi_arc(ea"Mtrad(2.5)lro0 r= f(sr_ce_Dlllllllllllllllllllllllllllllllllllllllea"Mtrad(2.5)lro0 r= f(sr_ce_Dlllllllllllllllllllllllllllllllllllllllea"Mtrad(4.5)lro0 r= f(sr_ce_Dlllllllllllllllllllllllllllllllllllllllea"Mtrad(4.5)lro0 r= f(sr_ce_DllllllllllllllllllllllllllllllllllllllliNi : iNilro0 r= f(sr_ce_DllllllllllllllllllllllllllllllllllllllletipG E C2etipG Elro0 r= f(sr_ce_Dllllllllllllllllllllllllllllllllllllllltags*C2'iru,ro0 r= f(sr_ce_DlfffffffffffffffffffffffffffffffffffffftG= ir_ts[i]rro0 r= f(sr_ce_Dlffffffffffffffffffffffffffffffffffffffexte])*C210.m))====:"sis s8ea"Mtlts_circl_e: []-tfoolts_texte])s C2[ro0 r= f(s(147.mlo33.0)lro0 r= f(s(115.mlo32.0)lro0 r= f(s(90.mlo25.m)lro0 r= f(s(65.mlo25.m)lro0 r= f(s(33.0lo32.0)lro0 r= f(s(0.mlo33.0)lro0 r= f(s(270.mlo35.m)lro0 r= f(s(235.mlo35.m)]HardLocor em8 fa8)rHardLocwroarcu: sa"Mtuanvasscreaoi_arc(ea"Mtrad(0.25)lro0 r= f(sr_ce_Dlllllllllllllllllllllllea"Mtrad(0.25)lro0 r= f(sr_ce_Dlllllllllllllllllllllllea"Mtrad(6.75)lro0 r= f(sr_ce_Dlllllllllllllllllllllllea"Mtrad(6.75)lro0 r= f(sr_ce_DllllllllllllllllllllllliNi : 'ck',ro0 r= f(sr_ce_________________________outliG_G: ''lo#borderleay() UT_Ddssssssssssssssssssssssssssssssstags*C2'lts',ro0 r= f(sr_ce_________________________tG= lts_texte])s[i][0],ro0 r= f(sr_ce_________________________exte])*C2lts_texte])s[i][1])HardLocwroea"Mtlts_circl_appendparc)-ro0 r= f(sr_ce_Dlfffffffffffffffffffffffffffffffffffff====:"sl_ecolor.HardLocwroiNi=')u teuHardLoced.HardLocwroiNi='ck'====:"selfmoor_liG_G: sa"Mtuanvasscreaoi_liG_(elfrad(5.75)llea"Mtrad(4.25)lro0 r= f(sr_ce_Dlllllllllllllllllllllllllllllllllelfrad(5.75)llea"Mtrad(4.25)lro0 r= f(sr_ce_Dlllllllllllllllllllllllllllllllllelfrad(5.75)llea"Mtrad(4.25)lro0 r= f(sr_ce_Dlllllllllllllllllllllllllllllllllelfrad(5.75)llea"Mtrad(4.25)lro0 r= f(sr_ce_Dlllllllllllllllllllllllllllllllllarrown: LASTlro0 r= f(sr_ce_Dlllllllllllllllllllllllllllllllllarrowshape : (int(elfradius/3)lro0 r= f(sr_ce_Dlllllllllllllllllllllllllllllllllllllllllllllllint(elfradius/3)lro0 r= f(sr_ce_Dlllllllllllllllllllllllllllllllllllllllllllllll3)lro0 r= f(sr_ce_DlllllllllllllllllllllllllllllllllwidG: int(elfradius/6)lro0 r= f(sr_ce_DllllllllllllllllllllllllllllllllliNi : iNilro0 r= f(sr_ce_Dllllllllllllllllllllllllllllllllltags*C2'moor')====:"s"srtdssssssssssssssssssssssssssssssssssssis s8ea"Mtcanvas.tag_lower('tircl_'r2'camera')====:"sea"Mtcanvas.tag_lower('iru,2'circl_')====:"selfcanvas.tag_lower('lts',2'iru)====:"selfcanvas.00anctx_DwimG_eue!pf VIr4irr4lts, moor, vision RiNG_)-tfoo"="_DwiiiiUe!uisvexpfmRehian 8-eleme])*IR ffmRCecaldm8ROBOTS, t _Dwiiii8-elt4lts ffmRCecaldm8RAW (b0oo20m)l a 2-elt4(trans. #rot.)====:"smoor ffmRCecaldmb0oo1, t *uvision isfan h*w-elt4ffmRCecaldHardLocb0oo255-tfoo"="_Dwiiiior em8 fa8)rHardLocwrograyffi : int((lts[i]/elfmaxVal(['lts'])r*sT03.0)HardLocwroea"Mtcanvassitemcf UT_ure(ea"Mtlts_circl_[i]rro0 r= f(sr_ce_DlfffffffffffffffffffiNi='gray'+str(grayffi))-ro0 r= or em8 fa8)rHardLocwroperce])*C2(ir[i]/elfmaxVal(['iru])HardLocwroxy2C2ea"Mtecal(perce]))HardLocwroea"Mtcanvasscoords("a"Mtir_circl_[i]roxy) ====:"sl_emoor[1]u==o0.5rHardLocwroea"Mtcanvasscoords("a"Mtmoor_liG_rro0 r= f(sr_ce_Dlffffffffffffelfrad(5.75)llea"Mtrad(4.25+o2*moor[0])lro0 r= f(sr_ce_Dlllllllllllllelfrad(5.75)llea"Mtrad(4.25))_Dwins8ed.HardLocwroea"Mtcanvasscoords("a"Mtmoor_liG_rro0 r= f(sr_ce_Dlffffffffffffelfrad(5.75)llea"Mtrad(4.25+o2*moor[0])lro0 r= f(sr_ce_Dlllllllllllllelfrad(5.75)llea"Mtrad(4.25)lro0 r= f(sr_ce_Dlllllllllllllelfrad(5.75+o2*(moor[1]u- .5))llea"Mtrad(4.25))_====:"sl_evisionrHardLocwrograystr2C2="_Dwiiii = or em8 fawronvision)).HardLocwrowrograystr2+=rstruct.00anc"B", vision[i])HardLocwroGr4L:"sE)o"mgo=rImageTk.Image.etrehi("L",====:"s"srtdsssssssssssssssssssssssssssss(ea"Mtifa fSize[0], ea"Mtifa fSize[1])lro0 r= f(sr_ce_DlllllllllllllardLocwrowrograystr)HardLocwroea"Mtphoo.00sp"mg,iNG_) x_DwimG_escalpf VIroperce]))-tfoo"="_DwiiiiScalrs boundehiboxvofvndere iroarcs-tfoo"="_Dwiiiireturnm(ea"Mtrad(2.5-2.0*perce]))lro0 r= f(sr_ce_ea"Mtrad(2.5-2.0*perce]))lro0 r= f(sr_ce_ea"Mtrad(4.5+2.0*perce]))lro0 r= f(sr_ce_ea"Mtrad(4.5+2.0*perce]))tx_DwimG_eradpf VIr4ffi)-tfoo"="_DwiiiiGivs iboiger valuevndffi * radiusis s8"="_Dwiiiireturnmint(ffi * elfradius)-tfoksk(msg_: UT_DE)"--------".Hards====="TesRehiw/visionr"_Dwikvo=rKheperaViewer((3mlo25))_DwiaDar[int(x*((255.m/(3m.0*25.m))))ior xm8 fa30*25)]Hard_Dwikv.ue!p[.2, .4, .6, .8lo1.0lo1.03, .3, .5]rro0 r= f(sr_ce[0.mlo25.m, 50.mlo75.mlo100.mlo125.mlo150.mlo175.mlo199.0],ro0 r= f(sr_ce[.3, 0],a)_Dwiraw_input,8====s====="Tryehiw/ouvision (tolor)r"_Dwikvo=rKheperaViewer(NG_) Dwikv.ue!p[.2, .4, .6, .8lo1.0lo1.03, .3, .5]rro0 r= f(sr_ce[0.mlo25.m, 50.mlo75.mlo100.mlo125.mlo150.mlo175.mlo199.0],ro0 r= f(sr_ce[.3, 0]8====s====="prfss RETURN..."Hardraw_input,8====kv.ue!p[.3, .9, .5, .8lo.95, .8lo.3, .7],ro0 r= f(sr_ce[60.mlo20.mlo55.mlo75.mlo125.mlo135.mlo75.mlo5.mlo90.m],ro0 r= f(sr_ce[.9, .75])_Dwiraw_input,8========s====="Tryehiw/ouvision (b/w)r"_Dwikvo=rKheperaViewer(NG_lo0)-tfokv.ue!p[.2, .4, .6, .8lo1.0lo1.03, .3, .5]rro0 r= f(sr_ce[0.mlo25.m, 50.mlo75.mlo100.mlo125.mlo150.mlo200.mlo199.0],ro0 r= f(sr_ce[.3, 0]8====s====="prfss RETURN..."Hardraw_input,8====kv.ue!p[.3, .9, .5, .8lo.95, .8lo.3, .7],ro0 r= f(sr_ce[60.mlo200.mlo55.mlo75.mlo125.mlo135.mlo75.mlo5.mlo90.m],ro0 r= f(sr_ce[.9, .75])_Dwiraw_input,8=====k7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)widgets/777777777777777777777777777777777777777777777777777777777777777777777777777777777770043220465344666134h"16063./ 00000T0323572344-13771 5777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777701006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)widgets/TKwidgets/77777777777777777777777777777777777777777777777777777777777777777777777770043220465344666134h"16063./ 00000T0103440602-15657 5777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777701006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)widgets/TKwidgets/Gene #**f/a VieMMO.o:: Vie1053 //=o71444546e TT03220465344666134h"16063./ 53606T0103440602-2./ 2t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777lffmporTtiboid-: UhisStx1usBar(Ttiboid.Fr_: ):_DwimG_eGene #**Ct _, m0sr)-tfooTtiboid.Fr_: .Gene #**Ct _, m0sr)is s8ea"MtlabeloC2Ttiboid.LabelCt _, bd=1, relief=Ttiboid.SUNKEN, t chor=Ttiboid.W)is s8ea"Mtlabel.00anciNi=Ttiboid.Xtx_DwimG_eseU(f VIr4ormat,2*args)-tfooelflabel.cf UT_(text=ormat %oargs)HardLocelflabel.ne!lfd tasksctxH mG_ecT Fr(f VItmolhbh 2"a"Mt(abel.cf UT_(text="")HardLocelflabel.ne!lfd tasksctxH #### # CUhisDialog # # Purpose # Base Uhisor many dialogboxv Uhises.-#### : UhisDialog: mG_eGene #**Ct _, m0sr)- elfmasrG: masr- elftopoC2Ttiboid.Top, fol,elfmasr)- elftop.titlpf VIGe Uhis__Geg_: UT)- elftop.minsize(1lo1)- elfmyWaitVarG: `elftop` + 'EndDialogVar' mG_eShow(f VItmo elfSetupDialog()- elfCeboidDialog()- elftop.deicf ify()- elftop.focusctxH mG_eTerminDialog(t _, wiValue).HardLocwrowrodLocelftop.setffr(elfmyWaitVar, wiValue)- elftop.widraw()- H mG_eDialogCT Fnup(f VItmo elftop.destroy()- elfmasr.focusctxH mG_eSetupDialog(f VItm - saay(H mG_eCeboidDialog(f VItmo elftop.widraw()- elftop.ne!lfd tasksctx wn: sa"Mttop.winfo_screenwidctx hn: sa"Mttop.winfo_screenhetsctx reqwn: sa"Mttop.winfo_reqwidctx reqhn: sa"Mttop.winfo_reqhetsctx ceboidxG: `(w-reqw)/2`x ceboidyG: `(h-reqh)/2*- 100`x geomStr2C2=+" + ceboidxG+2=+" + ceboidy- elftop.geometry(geomStr)H #### # CUhisModalDialog # # Purpose # Base Uhisor many modal dialogboxv Uhises.-#### : UhisModalDialog(Dialog): mG_eGene #**Ct _, m0sr)- Dialog.Gene #**Ct _, m0sr)i mG_eShow(f VItmo lffmporstrehi elfSetupDialog()- elfCeboidDialog()- elftop.grab_seU()- elftop.focusctx elftop.deicf ify()- elftop.waitffr(elfmyWaitVar)====:"s"srtdsssss#s====="waitffr =", elftop.getffr(elfmyWaitVar),R t(elftop.getffr(elfmyWaitVar))====:"s"srtdsssssresn: sa"Mttop.getffr(elfmyWaitVar)====:"s"srtdsssss#s====="resn:",sres,R t(res)====:"s"srtdsssssifR t(res)_DE) t(1).HardLocwrowrodLoc oreturnmelftop.getffr(elfmyWaitVar)====:"s"srtdsssssed.HardLocwrowrodLoc oreturnmetrehi.atoi(elftop.getffr(elfmyWaitVar))=#### # CUhisAlertDialog # # Purpose # ------- # # AlertDialog'soarewidgetsverat allow one t popoup warnehis, one liG_ # quesReon( etc.iTgfyoreturnmaeseU2o"1htandard acopon numbids beehi:- # 0 => Cancelowas prfssed # 1 => Yesowas prfssed # 2 => Noowas prfssed # # Standard Usage # -------------- # # Fn: AlertDialog(widget, mfssage)=# acopon = F.Show()-#### : UhisAlertDialog(ModalDialog): mG_eGene #**Ct _, widget, msgtmo elfwidget = widget- elfmsgStrehiG: msg- Dialog.Gene #**Ct _, widgettxH mG_eSetupDialog(f VItmo lffmporstrehi upperFr_: oC2Ttiboid.Fr_: (elftop) upperFr_: ['relief'] : 'raised' upperFr_: ['bd'] G: 1- upperFr_: .00anc{'expand':'yes',2'hide':'top', 'iNi':'both' })- elfbitmapoC2Ttiboid.LabelCupperFr_: )- elfbitmap.00anc{'hide':'left'})- msgList C2etrehi.spl #fields("a"MtmsgStrehi, "\n")- or em8 fawronmsgList)tmo msgTextoC2Ttiboid.LabelCupperFr_: )- msgText["text"] GG: msgList[i]- msgText.00anc{'expand':'yes',2'hide':'top', 't chor':'nw', - 'iNi':'x' })- elflowerFr_: oC2Ttiboid.Fr_: (elftop) elflowerFr_: ['relief'] : 'raised' elflowerFr_: ['bd'] G: 1- elflowerFr_: .00anc{'expand':'yes',2'hide':'top', 'pady':'2', - 'iNi':'both' })-H mG_eOkPrfssed(f VItmo elfTerminDialog(1)-H mG_eCancelPrfssed(f VItmo elfTerminDialog(0)-H mG_eNoPrfssed(f VItmo elfTerminDialog(2)-H mG_eCreaoiButtoonea"M,R ext,otommt *tmo elfbuttoooC2Ttiboid.Buttoonea"MlowerFr_: )o elfbuttoo["text"] GG: texto elfbuttoo["tommt *"] GG: tommt *o elfbuttoo.00anc{'expand':'yes',2'pady':'2', 'hide':'left'})-=#### # CUhisErrorDialog # # Purpose # ------- # # T popoup an error mfssage-#### : UhisErrorDialog(AlertDialog): mG_eSetupDialog(f VItmo AlertDialog.SetupDialog(f VIt- elfbitmap['bitmap'] : 'error' elfCreaoiButtoon"OK", elfOkPrfssed)-=#### # CUhisWarnehiDialog # # Purpose # ------- # # T popoup a warnehi mfssage.-#### : UhisWarnehiDialog(AlertDialog): mG_eSetupDialog(f VItmo AlertDialog.SetupDialog(f VIt- elfbitmap['bitmap'] : 'warnehi' elfCreaoiButtoon"Yes", elfOkPrfssed)- elfCreaoiButtoon"No", elfCancelPrfssed)-=#### # CUhisQuesReonDialog # # Purpose # ------- # # T popoup a slffle quesReon-#### : UhisQuesReonDialog(AlertDialog): mG_eSetupDialog(f VItmo AlertDialog.SetupDialog(f VIt- elfbitmap['bitmap'] : 'quesReon' elfCreaoiButtoon"Yes", elfOkPrfssed)- elfCreaoiButtoon"No", elfNoPrfssed)- elfCreaoiButtoon"Cancel", elfCancelPrfssed)-=#### # CUhisMfssageDialog # # Purpose # ------- # # T popoup a mfssage.-#### : UhisMfssageDialog(AlertDialog): mG_eSetupDialog(f VItmo AlertDialog.SetupDialog(f VIt- elfbitmap['bitmap'] : 'warnehi' elfCreaoiButtoon"Dismiss", elfCancelPrfssed)-=#### # CUhisFileDialog # # Purpose # ------- # # FileDialog'soarewidgetsverat allow one t elffmRiNa g_: s by # clickehi oooiNa g_: s, dirfmRy g_: s, iNoids, etc. # # Standard Usage # -------------- # # Fn: FileDialog(widget, some_titl, some_iNoid)=# ifRF.Show() !: 1:=# F.DialogCT Fnup()=# return=# iNaeg_: = F.GetFileN_: ()=# F.DialogCT Fnup()=#### : UhisFileDialog(ModalDialog): # con(tructor mG_eGene #**Ct _, widget, titl, iNoid="*"r4pyro_dirG: ''tmo bos2lffmporgetcwdo betrehi lffmporstrep o elfwidget = widget- elfiNoid C2etrep(iNoid)= elforig_dirG: getcwd()====:"s"srtdsssssea"Mtpyro_dirG: pyro_dir= elfcwdG: getcwd()====:"s"srtdsssssea"MtUhitCwd: sa"Mtcwdo===:"s"srtdsssss# ere logical curre])*workehi dirfmRy- Dialog.Gene #**Ct _, widgettxH # eltup routiG_Gcalledmb0ancbDialog mG_eSetupDialog(f VItmo- # dirfmRy label o elfdirFr_: oC2Ttiboid.Fr_: (elftop) elfdirFr_: ['relief'] : 'raised' elfdirFr_: ['bd'] G: '2' elfdirFr_: .00anc{'expand':'no',2'hide':'top', 'iNi':'both'}) elfdirLabeloC2Ttiboid.LabelCt _dirFr_: ) elfdirLabel["text"]2C2=DirfmRy:" elfdirLabel.00anc{'expand':'no',2'hide':'left', 'iNi':'none'}) # editxmea iNoid - elfiNoidFr_: oC2Ttiboid.Fr_: (elftop) elfiNoidFr_: ['relief'] : 'raised' elfiNoidFr_: ['bd'] G: '2' elfiNoidFr_: .00anc{'expand':'no',2'hide':'top', 'iNi':'both'}) elfiNoidLabeloC2Ttiboid.LabelCt _iNoidFr_: ) elfiNoidLabel["text"]2C2=FNoid:" elfiNoidLabel.00anc{'expand':'no',2'hide':'left', 'iNi':'none'}) ===:"s"srtdsssssea"MtgoHomeButtoooC2Ttiboid.Buttoonea"MiNoidFr_: ) elfgoHomeButtoo["text"] GG: "Home" elfgoHomeButtoo["tommt *"] GG: elfHomePrfssed elfgoHomeButtoo["wid"]2C28 elfgoHomeButtoo.00anc{'expand':'yes',2'pady':'2', 'hide':'rts'}) ===:"s"srtdsssss elfiNoidEntdyG: Ttiboid.EntdyCt _iNoidFr_: ) elfiNoidEntdybind('', elfFNoidReturnKey) elfiNoidEntdy["wid"]2G: "40" elfiNoidEntdy["relief"]2C2=ridge" elfiNoidEntdy.00anc{'expand':'yes',2'hide':'rts',2'iNi':'x'}) elfiNoidEntdy.insert(0, elfiNoid)= # ere dirfmRy t *uiNa listboxes - elflistBoxFr_: oC2Ttiboid.Fr_: (elftop) elflistBoxFr_: ['relief'] : 'raised' elflistBoxFr_: ['bd'] G: '2' elflistBoxFr_: .00anc{'expand':'no',2'hide' :'top',- 'pady' :'2', 'padx': '0',2'iNi' :'x'}) elfCreaoiDirListBox() elfCreaoiFileListBox() elfUe!ListBoxesctxH # editxmea iNeg_: - elfiNeN_: Fr_: oC2Ttiboid.Fr_: (elftop) elfiNeN_: Fr_: .00anc{'expand':'no',2'hide':'top', 'iNi':'both'}) elfiNeN_: Fr_: ['relief'] : 'raised' elfiNeN_: Fr_: ['bd'] G: '2' elfiNeN_: LabeloC2Ttiboid.LabelCt _iNeN_: Fr_: ) elfiNeN_: Label["text"]2C2=FNe:" elfiNeN_: Label.00anc{'expand':'no',2'hide':'left', 'iNi':'none'}) elfiNeN_: EntdyG: Ttiboid.EntdyCt _iNeN_: Fr_: ) elfiNeN_: Entdy["wid"]2G: "40" elfiNeN_: Entdy["relief"]2C2=ridge" elfiNeN_: Entdy.00anc{'expand':'yes',2'hide':'rts',2'iNi':'x'}) elfiNeN_: Entdy.bind('', elfFNeN_: ReturnKey) o===:"s"srtdsssss# help text.HardLocwrowrodLochelpFr_: oC2Ttiboid.Fr_: (elftop) ===:"s"srtdsssssecrollBarG: Ttiboid.Scrollbar(helpFr_: , {'orie])':'vertical'}) ===:"s"srtdsssssecrollBar.00anc{'expand':'no',2'hide':'rts',2'iNi':'y'}) ===:"s"srtdsssssea"MthelpTextoC2Ttiboid.Text(helpFr_: , sux10="disxmead",====:"s"srtdssssssssssssssssssssssssssssssssssyecrollG: ecrollBar.elt,====:"s"srtdsssssssssssssssssssssssssssssssssshets: 5,lwidG: 50) ===:"s"srtdsssssea"MthelpText.00anc{'expand':'yes',2'hide' :'top', ====:"s"srtdsssssssssssssssssssssssss'pady' :'1','iNi' :'both'}) sssssssssssssssshelpFr_: .00anc{'hide':'top', 'expand':'yes',2'iNi':'both'}) ===:"s"srtdsssssecrollBar['tommt *'] : ea"MthelpText.yviewxH # buttoos-2ok, iNoid,nuancel o elfbuttooFr_: oC2Ttiboid.Fr_: (elftop) elfbuttooFr_: ['relief'] : 'raised' elfbuttooFr_: ['bd'] G: '2' elfbuttooFr_: .00anc{'expand':'no',2'hide':'top', 'iNi':'x'}) elfokButtoooC2Ttiboid.Buttoonea"MbuttooFr_: ) elfokButtoo["text"] GG: "OK" elfokButtoo["tommt *"] GG: elfOkPrfssed elfokButtoo["wid"]2C28 elfokButtoo.00anc{'expand':'yes',2'pady':'2', 'hide':'left'})- elfiNoidButtoooC2Ttiboid.Buttoonea"MbuttooFr_: ) elfiNoidButtoo["text"] GG: "FNoid" elfiNoidButtoo["tommt *"] GG: elfFNoidPrfssed elfiNoidButtoo["wid"]2C28 elfiNoidButtoo.00anc{'expand':'yes',2'pady':'2', 'hide':'left'})- buttoooC2Ttiboid.Buttoonea"MbuttooFr_: ) buttoo["text"]G: "Cancel" buttoo["tommt *"] = elfCancelPrfssed buttoo["wid"]2C28 buttoo.00anc{'expand':'yes',2'pady':'2', 'hide':'left'})-= buttoooC2Ttiboid.Buttoonea"MbuttooFr_: ) buttoo["text"]G: "Edit" buttoo["tommt *"] = elfEditPrfssed buttoo["wid"]2C28 buttoo.00anc{'expand':'yes',2'pady':'2', 'hide':'left'})-= buttoooC2Ttiboid.Buttoonea"MbuttooFr_: ) buttoo["text"]G: "My Copy" buttoo["tommt *"] = elfCopyPrfssed buttoo["wid"]2C28 buttoo.00anc{'expand':'yes',2'pady':'2', 'hide':'left'})-= # creaoi ere dirfmRy listbox-H mG_eCreaoiDirListBox(f VItmo fr_: oC2Ttiboid.Fr_: (elflistBoxFr_: )o fr_: .00anc{'expand':'yes',2'hide' :'left', 'pady' :'1', - 'iNi' :'both'}) fr_: ['relief'] : 'raised' fr_: ['bd'] G: '2' iNesFr_: oC2Ttiboid.Fr_: (fr_: )o fNesFr_: ['relief'] : 'flat'o fNesFr_: ['bd'] G: '2' iNesFr_: .00anc{'hide':'top', 'expand':'no',2'iNi':'x'}) labeloC2Ttiboid.LabelCiNesFr_: ) label['text'] : 'DirfmRies:' label.00anc{'hide':'left', 'expand':'yes',2't chor':'w',- 'iNi':'none'}) ecrollBarG: Ttiboid.Scrollbar(fr_: , {'orie])':'vertical'}) ecrollBar.00anc{'expand':'no',2'hide':'rts',2'iNi':'y'}) elfdirLboC2Ttiboid.Listbox(fr_: , {'yecroll':ecrollBar.elt}) elfdirLb.00anc{'expand':'yes',2'hide' :'top', 'pady' :'1', - 'iNi' :'both'}) elfdirLb.bind('', elfDoDoumeaClickDir) ecrollBar['tommt *'] : ea"MtdirLb.yviewxH # creaoi ere iNes listbox-H mG_eCreaoiFileListBox(f VItmo fr_: oC2Ttiboid.Fr_: (elflistBoxFr_: )o fr_: ['relief'] : 'raised' fr_: ['bd'] G: '2' ir_: .00anc{'expand':'yes',2'hide' :'left', 'pady' :'1', 'padx' :'1', - 'iNi' :'both'}) fNesFr_: oC2Ttiboid.Fr_: (fr_: )o fNesFr_: ['relief'] : 'flat'o fNesFr_: ['bd'] G: '2' iNesFr_: .00anc{'hide':'top', 'expand':'no',2'iNi':'x'}) labeloC2Ttiboid.LabelCiNesFr_: ) label['text'] : 'Files:' label.00anc{'hide':'left', 'expand':'yes',2't chor':'w', - 'iNi':'none'}) ecrollBarG: Ttiboid.Scrollbar(fr_: , {'orie])':'vertical'}) ecrollBar.00anc{'hide':'rts',2'iNi':'y'}) elfiNeLboC2Ttiboid.Listbox(fr_: , {'yecroll':ecrollBar.elt}) elfiNeLb.00anc{'expand':'yes',2'hide' :'top', 'pady' :'0', - 'iNi' :'both'}) elfiNeLb.bind('<1>', elfDoSlffmRion)o===:"s"srtdsssss# Thisvcauses someepromeams oooDebian tompuoids elfiNeLb.bind('', elfDoDoumeaClickFNat( ecrollBar['tommt *'] : ea"MtiNeLb.yviewxH # ne! ere listboxes t *udirfmRy label afoid a ch f2o"1dirfmRy-H mG_eUe!ListBoxescf VItmo lffmporoso btommt *s2lffmporgetoutpuoo betrehi lffmporspl #fields-= cwd: sa"Mtcwdo elfiNeLb.dlffte(0, elfiNeLb.size())o fNoid C2elfiNoidEntdy.geU()- # '*' _"ll listrfmurively,iwr don't wantverat.o lf fNoid C= '*'mo fNoid C2'' cmd: "/bin/ls " + os.00th.join(cwd, iNoid) +2\ro0 r= f(sr_ce_Dlffffff" | /bin/grep -v Gene #**" cmdOutpuoG: getoutpuo(cmd)o fNes C2epl #fields(cmdOutpuo, "\n")-f(sr_ce_DlfffffffNes.smpo()- or em8 fawronfNes)tmo lf os.00th.isfNe(os.00th.join(cwd, iNes[i])tmo elfiNeLb.insert('e *', os.00th.baseg_: (iNes[i])to fNes C2os.listdir(cwd)====:"s"srtdsssssifRcwd!C2'/'.HardLocwrowrodLoc ofNes.appendp'..'to fNes.smpo()- ea"MtdirLb.dlffte(0, elfdirLb.size())o for em8 fawronfNes)tmoardLocwrowrodLoc olf os.00th.isdir(os.00th.join(cwd, iNes[i])tmoo0 r= f(sr_ce_Dlfffffflf fNes[i]!C2'CVS' t *u(iNes[i][0] !C2'.'4or fNes[i]C= '..'tmoo0 r= f(sr_ce_Dlffffff elfdirLb.insert('e *', iNes[i])- ea"MtdirLabel['text'] : =DirfmRy:" +2sa"Mtcwd_s====(txH # elffmRion h dlids H mG_eDoSlffmRionCt _, eve]))- bposixpath2lffmporjoin====:"s"srtdsssssiffmporstrehi lboC2eve]).widget- field : ea"MtiNeN_: Entdy- field.dlffte(0, Ttiboid.AtEnd())- field.insert(0, join(sa"Mtcwd_s====(t, lb.geU(lb.nearfst(eve]).y))))====:"s"srtdssssslb.elffmR_cT Fr(0, "e *")-f(sr_ce_Dlfffffflb.elffmR_t chor(lb.nearfst(eve]).y))o===:"s"srtdsssss# ------------------------------------o===:"s"srtdsssss# Get someehelp bere iNeo===:"s"srtdsssss# erisvcould beDdre __docs__betrehi o===:"s"srtdsssss# ere modul, butverat would requirf ustf load ito===:"s"srtdsssss# t *uerat seams likeenTf a good idea. MaybeDbetoid ===:"s"srtdsssss# eo get dataDba text iNer4or topoo"1 iNeo===:"s"srtdssssslf feld.geU()[-3:]C= ""4or feld.geU()[-6:]C= "world".HardLocwrowrodLoc ofpoC2opronfeld.geU(), "r")-f(sr_ce_Dlffffff liG_s C2fp.readliG_s()====:"s"srtdsssss betrehiliG_s C2etrehi.join(liG_s, ''tHardLocwrowrodLoc ofp.close()====:"s"srtdsssssed.HardLocwrowrodLoc oetrehiliG_s C2"Noehelp yet availxmea iderisviNe" ===:"s"srtdsssssea"MthelpText.cf UT_(sux10='normal'tHardLocwrowrodLocea"MthelpText.dlffte(1.0lo'e *'tHardLocwrowrodLocea"MthelpText.insert('e *', etrehiliG_s tHardLocwrowrodLocea"MthelpText.cf UT_(sux10='disxmead') H mG_eDoDoumeaClickDirCt _, eve]))- bposixpath2lffmporjoin= lboC2eve]).widget- sa"MtcwdoC2join(sa"Mtcwd, lb.geU(lb.nearfst(eve]).y))) elfUe!ListBoxesctxH mG_eDoDoumeaClickFNaCt _, eve]))- elfOkPrfssed()-H mG_eOkPrfssed(f VItmo elfTerminDialog(1)-H mG_eFNeN_: ReturnKeyCt _, eve]))- bposixpath2lffmporisxms, expanduser,rjoin= betrehi lffmporstrep # l_ei#soa relativs path2erenmincludeDdre cwdo8ere g_: g_: = etrep(elfiNeN_: Entdy.geU())o lf nTf isxms(expanduser(g_: )tmo elfiNeN_: Entdy.dlffte(0, 'e *'tH elfiNeN_: Entdy.insert(0, join(sa"Mtcwd_s====(t, g_: )t elfokButtoo.flash()- ea"MtOkPrfssed()- H mG_eFNoidReturnKeyCt _, eve]))- betrehi lffmporstrep iNoid C2etrep(elfiNoidEntdy.geU()) elfiNoidEntdy.dlffte(0, 'e *'tH elfiNoidEntdy.insert(0, iNoid)= elfiNoidButtoo.flash()- ea"MtUe!ListBoxesctxH mG_eFNoidPrfssed(f VItmo elfUe!ListBoxesctxH mG_eCancelPrfssed(f VItmo elfTerminDialog(0)-HowrodLocmG_eCopyPrfssed(f VItmolhbh 222222lffmporosoowrodLoc ofNeg_: : ea"MtiNeN_: Entdy.geU()-owrodLoc omyfNeg_: : os.geUenv("HOME") +2"/my" +2fNeg_: .spl #("/")[-1]-owrodLoc oos.system("cp -i %s %s" %(fNeg_: ,omyfNeg_: ))o===:"s"srtdlf fNeg_: [-6:]C= "world".HardLocwrowrodLcf UT_FNeg_: : fNeg_: +2".cfg" ===:"s"srtdssslf fNe_exists(cf UT_FNeg_: ) !: 0.HardLocwrowrodLoc os.system("cp -i %s.cfg %s.cfg" %(fNeg_: ,omyfNeg_: ))o===:"s"srtdelfiNeN_: Entdy.dlffte(0, 'e *'tH===:"s"srtdelfiNeN_: Entdy.insert(0, myfNeg_: )H===:"s"srtdelfEditPrfssed(myfNeg_: lo1)-HowrodLocmG_eEditPrfssed(t _, fNeg_: : NG_loelffmRIoG: 0tmolhbh 222222lffmporosoowrodLoc olf fNeg_: C= NG_.HardLocwrowrodLfNeg_: : ea"MtiNeN_: Entdy.geU()-owrodLoc olf os.geUenv("EDITOR"tm -ardLocwrowrodLeditor : os.geUenv("EDITOR"t-ardLocwrowred.HardLocwrowrodLeditor : "emacs"oowrodLoc olf fNe_exists(fNeg_: +2".cfg"tmoo0 r= f(sr_ce_os.system("%s %s %s.cfg &" % (editor, fNeg_: , fNeg_: )t-ardLocwrowred.HardLocwrowrodLos.system("%s %s &" % (editor, fNeg_: ))o===:"s"srtdelfTerminDialog(0)o#ea"fmRIotxH mG_eGetFileN_: (f VItmo returnmelfiNeN_: Entdy.geU()- H # return ere logical curre])*workehi dirfmRym8a=s====xmea idmH # ie. wioutrall dgf X/.. pairs.iTgf easifst way eo dooerisvisveoH # chdirGeo cwdot *uget dgf path2erere.-H mG_ecwd_s====(f VItmo frbos2lffmporchdir,rgetcwdo chdir(sa"Mtcwd)- pG: getcwd()= chdir(sa"Mtorig_dir)o returnmp-=#### # CUhisLoadFileDialog # # Purpose # ------- # # SpecialisxRion ofFileDialog idloadehi Nes.=#### : UhisLoadFileDialog(FileDialogtmo-:"s"srtdmG_eGene #**Ct _, m0sr, titl, iNoidr4pyro_dirG: ''tmo===:"s"srtdFileDialog.Gene #**Ct _, m0sr, titl, iNoidr4pyro_dir)o===:"s"srtdelftop.titlptitl)-HowrodLocmG_eHomePrfssed(f VItmolhbh 222222bos2lffmporgetenvoowrodLoc olf elfgoHomeButtoo['text'] :: 'Home'.HardLocwrowrodL#lf elfcwd!C2geUenv('HOME')ot *u\ro0 r= f(sr_ce_#"s"srtdelfcwd!C2elfpyro_dir.HardLocwrowrodLelflhitCwd: sa"Mtcwdo===:"s"srtdssssa"MtcwdoC2geUenv('HOME')o===:"s"srtdssssa"MtgoHomeButtoo['text'] : 'Pyro'o===:"s"srtdssssa"MtUe!ListBoxesctx:"s"srtdsssellf elfgoHomeButtoo['text'] :: 'Lhit'.HardLocwrowrodLtmp: sa"Mtcwd -ardLocwrowrodLsa"MtcwdoC2elflhitCwdHardLocwrowrodL#lf tmp!C2geUenv('HOME')ot *u\ro0 r= f(sr_ce_#"s"srtdtmp!C2elfpyro_dir.HardLocwrowrodLelflhitCwd: tmpo===:"s"srtdssssa"MtgoHomeButtoo['text'] : 'Home'o===:"s"srtdssssa"MtUe!ListBoxesctx:"s"srtdsssellf elfgoHomeButtoo['text'] :: 'Pyro'.HardLocwrowrodL#lf elflhitCwd!C2geUenv('HOME')ot *u\ro0 r= f(sr_ce_#"s"srtdelflhitCwd!C2elfpyro_dir.HardLocwrowrodL#ssssa"MtgoHomeButtoo['text'] : 'Lhit'HardLocwrowrodL#ed.HardLocwrowrodLsa"MtgoHomeButtoo['text'] : 'Home'o===:"s"srtdssssa"MtlhitCwd: sa"Mtcwdo===:"s"srtdssssa"MtcwdoC2elfpyro_diro===:"s"srtdssssa"MtUe!ListBoxesctxH mG_eOkPrfssed(f VItmo iNeN_: oC2elfGetFileN_: ()= lf fNe_exists(fNeN_: ) =: 0.H etr2C2'File ' +2fNeN_: +2' nTf found.' errorDliG: ErrorDialog(elftop, etr) errorDli.Show()- errorDli.DialogCT Fnup()= return= FileDialog.OkPrfssed(f VIt-=#### # CUhisSaveFileDialog # # Purpose # ------- # # SpecialisxRion ofFileDialog idsavehi Nes.=#### : UhisSaveFileDialog(FileDialogtmo- mG_eGene #**Ct _, m0sr, titl, iNoidtmo FileDialog.Gene #**Ct _, m0sr, titl, iNoid)- elftop.titlptitl)-H mG_eOkPrfssed(f VItmo iNeN_: oC2elfGetFileN_: ()= lf fNe_exists(fNeN_: ) =: 1.H etr2C2'File ' +2fNeN_: +2' exists.\nDo you wishGeo overwriuit?' warnehiDliG: WarnehiDialog(elftop, etr) lf warnehiDli.Show() =: 0.H warnehiDli.DialogCT Fnup()= return= warnehiDli.DialogCT Fnup()= FileDialog.OkPrfssed(f VIt-= UhisAppl cxRion(Ttiboid.Fr_: ):_DwidmG_eGene #**Ct _, m0sr=NG_)-tfoooTtiboid.Fr_: .Gene #**Ct _, m0sr)i-HowrodLocsa"MbuttoooC2Ttiboid.Buttoonea"M)HowrodLocsa"Mbuttoo['text'] : 'Load File...'HowrodLocsa"Mbuttoo['tommt *'] : ea"MtPrfssHowrodLocsa"Mbuttoo.00anc{"hide": "top"})-HowrodLocsa"M00anctx_DwidmG_ePrfss(f VItmolhbh 222fNeDliG: fNedli.LoadFileDialog(app, "Load File", "*"r4''tHardLocwrlf fNeDli.Show() !: 1:==:"s"srtdsssfNeDli.DialogCT Fnup()==:"s"srtdsssreturn="srtdsssfg_: : fNeDli.GetFileN_: ()=owrodLocsa"Mbuttoo['text'] : 'File: ' +2fg_: "srtdsssfNeDli.DialogCT Fnup()= # # Return wheerer8a=fNe exists dnot. # Tre iNe ""visvdeemedGeo nTf exist # mG_efNe_exists(fNeeg_: tmo bposixpath2lffmporexists lffmporstrehi lf wronfNeeg_: t =: 0.H returnm0 ed.H returnmexists(fNeeg_: t= # # read ere liG_s ba iNe t *uetrep eremvofvereirGerailehi newliG_s # mG_ereadliG_s(fdtmo betrehi lffmporstrep returnmmap(lambda s, i=strep: f(s), id.readliG_s()t= # # VariouseseU2operaReon( onmelquenceoargume])s.=# 8joinsvers valuesiin 'a' takeeprecedenceooververoseiin 'b' # mG_eelq_join(a, btmo r_s C2a[:] or xm8b:= lf x nTf insres:= res.appendpx) returnmres -mG_eelq_meeU(a, btmo r_s C2[] or xm8a:= lf x 8b:= res.appendpx) returnmres -mG_eelq_diff(a, btmo r_s C2[] or xm8a:= lf x nTf insb:= res.appendpx) returnmres -# # VariouseseU2operaReon( onmmapoargume])s.=# Trs valuesiin 'a' takeeprecedenceooververoseiin 'b'm8all cases.-# -mG_emap_join(a, btmo r_s C2{} or xm8a.keys().H res[x] C2a[x] or xm8b.keys().H lf nTf res.has_keypx):= res[x] C2b[x] returnmres -mG_emap_meeU(a, btmo r_s C2{} or xm8a.keys().H lf b.has_keypx):= res[x] C2a[x] returnmres -mG_emap_diff(a, btmo r_s C2{} or xm8a.keys().H lf nTf b.has_keypx):= res[x] C2a[x] returnmres -# # Jo8a=mapoo"1dG_as valuesiwiea=mapoo"1seU2values.iTgf dG_as # mapoisveakentf be total, t *uhenceoany keys nTf instgf dG_as, butv=# 8dgf settehis, mustbe errors.-# -mG_emap_join_total(settehis, dG_astmo r_s C2map_join(settehis, dG_ast or xm8settehis.keys().H lf nTf dG_as.has_keypx):= raise "merge_dG_as" returnmres -# # Returnmaestrehi beehidre concxRenxRion ofamelquenceoofobjects # NOTE:iwr applyrs routiG_Grfmursively t elquencesoo"1sequences # mG_eelq_to_str(stmo ifR t(s)_DE) t((1,))4or t t(s)_DE) t([]tmo returnmreduce(lambda sum, t: sum +2saq_to_str(a)lle, "")- ed.H returnmstr(st -# # a dummy funmRion or any numbid ofargume])s # mG_edummy(*args)- saay(H# # rs true t *ufad funmRions or any numbid ofargs # mG_etrue(*args)- returnm1 mG_efad(*args)- returnm0= # # return wheerer8a=charuisvs====xmea dnot # mG_eis_s====xmea(c)- oo=rord(c)- returnmcC= "\n"4or (o >= 32 t *uo <: 126)= # # return a=s====xmea version ofamgivenmetrehi # by slffly omittehinon=s====xmea characoids # mG_eetrehi_s====xmea(s)- wrogG: wronst ok : 1- r_s C2"" loC20 for em8 fawrog).H lf nTf is_s====xmea(s[i]):= resoC2reso+2s[l:i]- i : i+1- ok : 0o ifRok.H returnms- ed.H returnmreso+2s[l:wrog]k77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ui)widgets/Gene #**f/a VieMMO.o:: Vie1053 //=o71444546e TT03220465344666134h"16063./ 0000007447761623 TT6103t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777map/77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777770043220465344666134h"16063./ 00000T0323572344-12314 5777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777701006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777map/Gene #**f/a VieMMO.o:: Vie1053 //=o71444546e TT03644465344666134h"16063./ 07163T0314617657314433t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# map/Gene #** : UhisMap:==:"s""" Basic Uhisor global iboirnal robTf maps"="__DwidmG_eGene #**Ct _, cols #rows,lwidMM,shetsMMtmolhbh 222""" Con(tructoror basicmapo Uhis"="_Dwiiii =sa"Mtcols = cols_Dwiiii =sa"MtrowsoC2rows_Dwiiii =sa"MtwidMM =lwidMM_Dwiiii =sa"MthetsMM =lhetsMM_Dwiiii =sa"MtoriginMM =lsa"MtwidMM / 2.0, elfhetsMM / 2.0_Dwiiii =sa"MtcolScalMM =lsa"MtwidMM / sa"Mtcols_Dwiiii =sa"MtrowScalMM =lsa"MthetsMM / sa"Mtrows_Dwiiii =sa"MtreseU()-_DwidmG_ereseU(t _, valuev=o0.5tmolhbh 222sa"MtgridoC2[[valuevndcolm8 fasa"Mtcols)]o===:"s"srtdssssrtdsssfdrown8 fasa"Mtrows)]o===:"s"ssa"MtlhbeloC2[[''vndcolm8 fasa"Mtcols)]o===:"s"srtdssssrtdssssfdrown8 fasa"Mtrows)]o_DwidmG_eseUGridLocxRion(t _, x, y, value, lhbeloC2NG_loabsoluteG: 0tmolhbh 222if(oabsoluteG:: 0 tmoo0 r= f(sr_cxposoC2int((sa"MtoriginMM[0] + x) / sa"MtcolScalMM)==:"s"srtdsssyposoC2int((sa"MtoriginMM[1]u- y) / sa"MtrowScalMM)==:"s"srted.HardLocwrowroxposoC2x==:"s"srtdsssyposoC2y HardLocwrlf sa"MtinR faypos,oxpostmoo0 r= f(sr_c#rlf hitowas alreadydmGtected, leavuit alG_!oo0 r= f(sr_c##lf elfgrid[ypos][xpos] !C21.0.HardLocwrowroelfgrid[ypos][xpos] = valueHardLocwrowrolf whbelo!= NG_.HardLocwrowrodL"ssa"Mtlhbel[ypos][xpos] = "%d" % label =:"s"srted.HardLocwrowros====="INVALID GRID LOCATION"__DwidmG_egeUGridLocxRion(t _, x, y, absoluteG: 0 tmolhbh 222if(oabsoluteG:: 0 tmoo0 r= f(sr_cxposoC2int((sa"MtoriginMM[0] + x) / sa"MtcolScalMM)==:"s"srtdsssyposoC2int((sa"MtoriginMM[1]u- y) / sa"MtrowScalMM)==:"s"srted.HardLocwrowroxposoC2x==:"s"srtdsssyposoC2y HardLocwrlf sa"MtinR faypos,oxpostmoo00000000000return(oelfgrid[ypos][xpos] )==:"s"srted.HardLocwrowros====="INVALID GRID LOCATION"_o00000000000return(o-1 )==:"s"srt_DwidmG_eaddGridLocxRion(t _, x, y, value, lhbeloC2NG_loabsoluteG: 0 tmolhbh 222if(oabsoluteG:: 0 tmoo0 r= f(sr_cxposoC2int((sa"MtoriginMM[0] + x) / sa"MtcolScalMM)==:"s"srtdsssyposoC2int((sa"MtoriginMM[1]u- y) / sa"MtrowScalMM)==:"s"srted.HardLocwrowroxposoC2x==:"s"srtdsssyposoC2y HardLocwrlf sa"MtinR faypos,oxpostmoooooooooooooelfgrid[ypos][xpos] += valueHardLocwrowrolf whbelo!= NG_.HardLocwrowrodL"ssa"Mtlhbel[ypos][xpos] = "%d" % label _DwidmG_einR fat _, d,nutmoooooooooreturnmr >= 0 t *ur <=sa"Mtrowsot *uc >= 0 t *uc <=sa"Mtcols__DwidmG_edisplayCt _, m RiNG_)-tfoo"sl_emC= NG_. m Rielfgrid "srtdsssfor em8 fasa"Mtrows):==:"s"srtdsssfor jm8 fasa"Mtcols).HardLocwrowrodL"ss====="%8.2f" % m[i][j],ro0 r= f(sr_cs==== owrodL"ss====="-------------------------------------------------"o_DwidmG_eseUGridCt _, gridtmolhbh 222sa"MtgridoC2grid "srtdssssa"MtrowsoC2wrongridt_Dwiiii =sa"Mtcols = wrongrid[0]t_Dwiiii =sa"MtcolScalMM =lsa"MtwidMM / sa"Mtcols_Dwiiii =sa"MtrowScalMM =lsa"MthetsMM / sa"Mtrows_Dwiiii =sa"MtlhbeloC2[[''vndcolm8 fasa"Mtcols)]o===:"s"srtdssssrtdssssfdrown8 fasa"Mtrows)]o_DwidmG_evali!GridCt _tmolhbh 222s====="Vali!ehiGrid: Checkehi bounds (%d, %d)..." % \ro0 r= f(sr_ce_asa"Mtrows, sa"Mtcols)lro0 r= f(fdrm8 fasa"Mtrows):==:"s"srtdsssfor cm8 fasa"Mtcols).HardLocwrowrodL"shiserU(t _tinR fad,nut)olhbh 222s====="dG_!" ===:"s"srtdsssssksk(msg_: UT_DE)'--------'.HardLs====="TesRehiMap()..."Hard mapoC2Map(8lo1m, 50mlo1000) ===:map.displayC) ===:map.reseU()-===:map.displayC) ===:s====="SettehiGrid locxRion..."Hard map.seUGridLocxRion(40mlo900lo1.0lo"A")-===:map.vali!GridC) ===:s====="SettehiGrid eo new size..."Hard map.seUGrid(2[[0lo0, 0],o===:"s"srtdssssrtd[0lo1, 0],o===:"s"srtdssssrtd[0lo0, 0],o===:"s"srtdssssrtd[1lo0, 0]] )==:"smap.vali!GridC) ===:map.displayC) ===:s====="All dG_!" 7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777map/gpsf/a VieMMO.o:: Vie1053 //=o71444546e TT03644465344666134h"16063./ 22671T03234"1642-13451t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777bp.map.tkmapoiffmporTtMap bmath2lffmporcos,osin, pi,osqrt, tanh : UhisGPS(TtMap).Hard"="_DwiGUIvndfisualizehidre global perceptual spaceoofa robTf.Hard"="_Hard"="_Dwi---------------------------------o===Gene #**: ne #ializea GPS window_Dwi----------------------------------o===:"cols: numbid ofcolumnsiin mapo===:"rows: numbid ofrowsoin mapo===:"value.HardLowidMM: acoual dihtanc_Grfprfseboid by8a=column (in MMs)HardLohetsMM: acoual dihtanc_Grfprfseboid by8a=rown(in MMs)HardLotitl: windowotitlHard"="_DwimG_eGene #**Ct _, cols=40mlorows=40mlovaluev=o0.5,o===:"s"srtdssssrwidMM =l10000,shetsMM =l10000,o===:"s"srtdssssrtitl = "Global Perceptual Space"tmoo0 r= """ Phisin gridocols #gridocells #t *ueotalocols/rowsoin MM"="_Dwiiiit _tstep : 0oDwiiii_Dwiiiit _tch fdValuesi= ()=owrodL=owrodL#o2000oisvere max dihtoofa Pioneid son(in MMs)i_Dwiiiit _t fi= 2000 =owrodL#osonmodeloisvbrokenmineo 3Grfgioos-2ereseoareere boundaies_Dwiiiit _t eg2max =it _t fi*o0.3_Dwiiiit _t eg1max =it _t fi*o0.75 _Dwiiiit _tfield : 15 =owrodL#omax promabilityoofoccupancy_Dwiiiit _tmaxOccupiedv=o0.98 =owrodL#ocreaoi ere mapo===:"rTtMap.Gene #**Ct _, cols #rows,lvalue,o===:"s"srtdssssrtdssscols #rows,o===:"s"srtdssssrtdssswidMM,shetsMM, titl)i-Howr"="_Dwi-------------------------------------------------------------------------_DwipromOccupied: tompuoi dgf promabilityoerat amgivenmlocxRionoisvoccupied_Dwi-------------------------------------------------------------------------_Dwi diht: dihtanc_GbrobTf tf locxRion_Dwi l: lGbrobTf bzeroeheadehi o"1sensorHard"="_DwimG_epromOccupied(oelf, diht, lGtmoo0 r= # figureoutrwrat rfgiooiwr areiinoo0 r= if(odihto<=it _t eg2max ).HardLocwrorfgiooi= 2HardLocellf(odihto>it _t eg2max t *udihto<=it _t eg1max ).HardLocwrorfgiooi= 1HardLocel.HardLocwrorfgiooi= 3 =owrodL#oset8 f t *uield based on=s=eviouseknowled f t *ucurre])*readehisoo0 r= if(orfgiooi== 1 ).HardLocwrori= (t _t fi-udiht)/t _t fHardLocwrofi= (t _tield - l)/t _tield HardLocwro#s====="rdLocwror:", d,n"rdLof", fHardLocwrorfturn(o((r+f) / 2)i*ot _tmaxOccupiedv)-HowrodLellf(orfgiooi== 2 ).HardLocwrorfturn(o1.0 - sa"M0romEmpty( diht, lGt )==:"s"sellf(orfgiooi== 3 ).HardLocwrorfturn(o-1 )=Howr"="_Dwi-------------------------------------------------------------------------_DwipromEmpty: tompuoi dgf promabilityoerat amgivenmlocxRionoisvNOTvoccupied_Dwi-------------------------------------------------------------------------_Dwi diht: dihtanc_GbrobTf tf locxRion_Dwi l: lGbrobTf bzeroeheadehi o"1sensorHard"="_DwimG_epromEmpty( elf, diht, lGtmoo0 r= # figureoutrwrat rfgioooo0 r= if(odihto<=it _t eg2max ).HardLocwrorfgiooi= 2HardLocellf(odihto>it _t eg2max t *udihto<=it _t eg1max ).HardLocwrorfgiooi= 1HardLocel.HardLocwrorfgiooi= 3 =owrodL#ocalaoi t *ureturnmpromabilityobased on=BayesiRuNeo===:"sif(orfgiooi== 1 ).HardLocwrorfturn(o1.0 - sa"M0romOccupied(odiht, lGt )==:"s"sellf(orfgiooi== 2 ).HardLocwrori= (t _t fi-udiht)/t _t fHardLocwrofi= (t _tield - l)/t _tield HardLocwro#s====="rdLocwror:", d,n"rdLof", fHardLocwroHardLocwrorfturn((r+f) / 2)=owrodL#onothehidf be dG_ insregiooi3 - sinc_Gwr didn't find anythehi==:"s"sellf(orfgiooi== 3 ).HardLocwrorfturn(o-1 )=Howr"="_Dwi-------------------------------------------------------------------------_DwigetProm: tompuoi dgf promabilityoerat amgivenmlocxRionoisvNOTvoccupied_Dwi-------------------------------------------------------------------------_Dwi diht: dihtanc_GbrobTf tf locxRion_Dwi l: lGbrobTf bzeroeheadehi o"1sensorHard =s=evVal:uget promabilityobp=eviouseiteraReon(Hard"="_DwimG_egetProm( elf, diht, l,=s=evValGtmoo0 r= # get rfgioooo0 r= if(odihto<=it _t eg2max ).HardLocwrorfgiooi= 2HardLocellf(odihto<=it _t eg1max ).HardLocwrorfgiooi= 1HardLocel.HardLocwrorfgiooi= 3 =owrodL#oinverse promabilityoofold valueHardLocs=evValInvi= 1 - s=evValoo0 r= # get new promabilities_Dwiiii0romOccoC2elfpromOccupied(odiht, lGt_Dwiiii0romEmptyoC2elfpromEmpty( diht, lGt =owrodL#oCalaoi Bayesian promabilityoo0 r= if(o0romOccoC=o-1 ori0romEmptyoC=o-1 ).HardLocwrorfturn(os=evValGtHardLocel.HardLocwrorfturn(o(0romOcco*os=evVal) / (o(0romOcco*os=evVal) +o(0romEmptyo*cs=evValInv)Gt )==Howr"="_Dwi-------------------------------------------------------------------------_Dwine!FLPS:ine! valuesibased on=LPS_Dwi-------------------------------------------------------------------------_Dwi lps:o Uhiscontainehi sensor datao===:"robTf:containsoinidmxRionoaboutrcurre])*robTfHard"="_DwimG_ene!FLPSCt _, lps,*robTftmo-:"s"sr# erihisGwr _"ll neidmoo0 r= #grid, x, y, th,ocellxMM, cellyMMmoo0 r= #t _tcanvas.dlffte("old"t-ardLocxoC2robTf.geU("robTf/x")i*o1000-ardLocyoC2robTf.geU("robTf/y")i*o1000-ardLocthroC2robTf.geU("robTf/thr")=owrodL#oIn GPS, dgf originoisvatere bottbleftcorner.=owrodL#oThisvmxRcresere way world iNes areispeciied.=owrodLyposoC2sa"Mtrowso-2int(y / sa"MtrowScalMM)*- 1-ardLocxposoC2int(x / sa"MtcolScalMM)==owrodL## drawoutrdgf sonreadehis bere LPS_Dwi ssfor em8 falpstrows):==:"s"srtdfor jm8 falpstcols).HardLocwrowro#cyotompG_nf is negativs becausecyoupoisvpositivsHardLocwrowroxMM =l(j*- alpstcols / 2))i*olpstcolScalMMHardLocwrowroyMM =l-1 * (i*- alpstrowso/ 2))i*olpstrowScalMMHardLocwrowro#ccos(0)o=o1, sin(0)o=o0HardLocwrowroxrooG: (xMM *ccos(thr)*- yMM *csin(thr))==:"s"srtdsssyrooG: (xMM *csin(thr) +oyMM *ccos(thr)) o===:"s"srtds#rcurre])*locxRionoin quesReon-ardLocwrowroxhito=cxo+oxrooG==:"s"srtdsssyhito=cy +oyrooG=o===:"s"srtds#rcurre])*celloin quesReon-ardLocwrowroxcelloC2int(xhito/ sa"MtcolScalMM)==:"s"srtdsssycelloC2sa"Mtrowso-2int(yhito/ sa"MtrowScalMM)*- 1-o===:"s"srtds#rdihtanc_GbrobTf tf curre])*locxRiono===:"s"srtdsdist C2eqrt(xroo*xrooG+oyroo*yroo)==:"s"srtdssso===:"s"srtds#rrobTf'svpositiono===:"s"srtdsoldxoC2int(xcello* sa"MtcolScal) +o(sa"Mtrows/3)o===:"s"srtdsoldyoC2int(ycello* sa"MtrowScal)*- asa"Mtcols/3)oo===:"s"srtds#rcurre])*locxRionovalueHardLocwrowrooldValGRielfgeUGridLocxRion(soldx,soldy, 1 tHardLocwrowro# _NoConvert(soldx,soldy )oo===:"s"srtds#rLPS#gridoonly holds 3 values.HardLocwrowro#c 0:ne!dot *unothehidrereHardLocwrowro#c 0.5:nTf ne!do-uno idearwrat'svrereHardLocwrowro#c 1: ne!dot *usomethehiwas hitoo===:"s"srtds#rlps sawsomethehirereo-une! if'svpromabilityoo===:"s"srtdslf wpstgrid[i][j]i== 1.0.HardLocwrowrowrooccoC2wpstgrid[i][j]i#ooccoC2elfgeUProm( diht, 0,ooldValGtHardLocwrowrodLoelfplotCell(oxcell,sycell,oocco) #"black")-f(sr_ce_Dlfffffo===:"s"srtds#rlps nevervne!do-uleavuereseolocxRions alGgo===:"s"srtdsellf wpstgrid[i][j]i== 0.5:HardLocwrowrodLoelfplotCell(oxcell,sycell,ooldValGt #o===:"s"srtds#rlps ne!doeris #t *ufoundunothehi-dmGterior valueo===:"s"srtdsel.HardLocwrowrodLoelfplotCell(oxcell,sycell,ooldValG*o0.1 )==owrodL## now drawoutrdgf path2ofvere*robTfHardodL## lf sa"MtinR faypos,oxpostmooooooo##odLoelfplotCell(xpos,oypos,o2.0Gt # "red"t-ooooooo##os====="--------DONE WITHrLPS---------"==Howr"="_Dwi-------------------------------------------------------------------------_DwiplotCell:osetsoa po====upodf be plotdo-uno lGger8acoually plotsoa cellHardLocwrowroderisvdo_s, however, ne! ere grid locxRioniwieere gew valueo===-------------------------------------------------------------------------_Dwiocxpos:cxocoordin onmmap_Dwiocypos:cyocoordin onmmap_Dwiocvalue. gew valuedfor [x,y]Hard"="_DwimG_eplotCell(ot _, xpos,oypos,ovaluedtmoo0 r= # figureoutrwrich*celloerisvrfprfsebos_DwiiiixCelloC2int(xposo* sa"MtcolScal) +o(sa"Mtrows/3)o===:"syCelloC2int(yposo* sa"MtrowScal)*- asa"Mtcols/3)oo===:"s#uget dgf curre])*valueo===:"soldValGRielfgeUGridLocxRion(sxCell,syCell, 1 to# _NoConvert(sxCell,syCellGt =owrodL#ono neidodf ne! ifovaluedisn't ch ehi==:"s"sif(ovalued!=ooldValGt.HardLocwro# don't wantveo get too smalloin casesomethehich fsoowrodLoc if(ovaluedo0.98 tmoo0 r= f(sr_cvaluev=o0.98 =owrodL dL#oset8ers value=owrodL dLt _tseUGridLocxRion(sxCell,syCell, value, NG_lo1 tHardLocwro# _NoConvert(sxCell,syCell, value, NG_ )oo===:"s"sr# ne! ere ch fdValuesitupleiwieeris newocoordin seU=owrodL dLt _tch fdValuesi= t _tch fdValues, (xCell,syCell)=Howr"="_Dwi-------------------------------------------------------------------------_Dwiredraw:iredraws ere graphical map_Dwi-------------------------------------------------------------------------_Dwi"="_DwimG_eredraw(ot _dtmoo0 r= # traverse through ne!dopo===so-2redrawveroseipo===soonmmap_Dwiocrwrile( wronLt _tch fdValuesi) tmoo0 r= f(st _tch fdValues, (row,col)i= t _tch fdValuesoo0 r= f(svalGRielfgeUGridLocxRion(srow,scol, 1 to# _NoConvert(srow,scol t-=##dLocwro# draws outrrobTf path2--uno lGger8used!!=##dLocwrooc if(ovali== 2.0 tmo##dLocwrooc sscolor : "red"o##dLocwrooc sst _tcanvas.creaoi_rfmR l(row-1,scol-1,srow+1,scol+1,o##dLocwrooc ssssssssssssssssssssssssssssssswidG: 0,o##dLocwrooc sssssssssssssssssssssssssssssssiNi=color, taiG: "old"t-##dLocwrooc el.HardLocwrocolor : "gray%d" % ((1-val)*100)ooooooooooooooooooooooooooooo0 r= f(st _tcanvas.creaoi_rfmR l(row,scol, row+1,scol+1,owrooc ssssssssssssssssssssssssssssssswidG: 0,owrooc sssssssssssssssssssssssssssssssiNi=color, taiG: "old"t-ooooooooooooosk(msg_: UT_DE)'--------'.HardLgpsi= GPS(5m, 50)HardLgps.appl cxRioni= 1HardLgps.----loop()=77777777777777777777777777777777777777777777777777777777777777777777777map/lpsf/a VieMMO.o:: Vie1053 //=o71444546e TT03644465344666134h"16063./ 12752T03234"1642-13455t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777 bp.map.tkmapoiffmporTtMap bmath2lffmporcos,osin, pi,osqrt : UhisLPS(TtMap).Hard"="_DwiGUIvndfisualizehidre locxl perceptual spaceoofa robTf.Hard"="_ idmG_eGene #**Ct _, cols #rows,lvaluev=o0.5,o===:"s"srtdssssrwidi= 200,shets: 200,o===:"s"srtdssssrwidMM =l7500,shetsMM =l7500,o===:"s"srtdssssrtitl = "Locxl Perceptual Space"tmoo0 r= """ Phisin gridocols #gridocells #t *ueotalowid/hetsin MM"="_Dwiiiit _tstep : 0oDwiiiiTtMap.Gene #**Ct _, cols #rows,lvalue,o===:"s"srtdssssrtdssswid,shets,o===:"s"srtdssssrtdssswidMM,shetsMM, titl)i- idmG_ecolor(t _, value, m0xvaluetmoo0 r= valuev=o1.0 - valuev/ m0xvalueoo0 r= color : "gray%d" % int(valuev*o100.0)i_Dwiiiireturnmcolori- idmG_ecompuoiOccupancy(t _, origx, origy, hitx, hity, arc, senseObcle, lhbeloC2NG_tmoo0 r= """oo0 r= Ie #ially only tompuoi occupanciesoonmere liG_ bere robTf tf-ardLocthe sensor hit.oooo0 r= """oo0 r= lf sa"Mtdebug:os====="occupancyGrid:", (origx, origy, hitx, hity)=owrodL#oset8ers originoo"1sensor empty:_Dwiiiit _tseUGridLocxRion(origx, origy, 0.0)_Dwiiiirise = hity-2origyoo0 r= lf xms(rise)dit _trowScalMM.HardLocwrottepyoC2elfrowScalMMHardLocwroif2rise < 0.HardLocwrowrottepyo*=l-1="srtdscurrxoC2origxoo0 r= curryoC2origyoo0 r= idstep 8 fasteps).HardLocwrocurryo+=ottepyHardLocwrocurrxo+=ottepxHardLocwrot _tseUGridLocxRion(currx,ocurry, 0.0lolhbelt-ooooooif senseObcle.HardLocwrot _tseUGridLocxRion(hitx, hity, 1.0lolhbelt-ooooooel.HardLocwrot _tseUGridLocxRion(hitx, hity, 0.0lolhbelt-- idmG_esensorHitsat _, dobTf,eitemtmoo0 r= """oo0 r= Po====(0,0)iis locxRdott dgf ceboir2ofvere*robTf.oo0 r= Po====(offx, offy)oisvere locxRioniofvere*sensor onmere robTf.oo0 r= Thetaoisva lGofvere*sensor hitorelativs toeheadehi 0.oo0 r= Dist isvere dihtanc_Gofvere*hitobere sensor.oo0 r= Givenmereseovalues, neidodf calaoi ere locxRioniofvere*hito===:"srelativs toedgf ceboir2ofvere*robTf (hitx, hity).oooo===:"s"srtdssssrtdss.(hitx, hity)=owrodLLLLLLLLLLLLLL/=owrodLLLLLLLLLLLLL/ -ardLocwrowrodLLLL/ -ardLocwrowrdist / -ardLocwrowrodLL/ -ardLocwrowrodL/ -ardLocwrowrod/thetao-ardLocwrowro.-------_Dwiiiiiiiii(offx, offy)_Dwiiiiii wrowro.-->headehi 0 wrowro(0,0) iiiiii wrowro"""oo0 r= originalUni#soC2robTf.geU("robTf",eitem, 'uni#s'tHardLocrobTf.seU("robTf/%s/uni#s" % item, 'METERS'tHardLocarcoC2robTf.geU("robTf",eitem, 0, 'arc')=owrodL#oFIX:siNi 8 dius ofrobTf:HardLocr dius C2robTf.geU('robTf', 'radius')=owrodL#o-----------------------------------_Dwi ssfor em8 farobTf.geU("robTf",eitem, 'count')t.HardLocwro# in MM.HardLocwrooffx, offyoC2robTf.geU("robTf",eitem, i,o'ox'),2robTf.geU("robTf",eitem, i,o'oy')HardLocwro# in METERS, becausecw seUuit sooabov.HardLocwrodist C2robTf.geU("robTf",eitem, i,o'value')o-ardLocwroifodihto<2robTf.geU("robTf",eitem, 'm0xvalue'tmoo0 r= f(sr_csenseObclei= 1HardLoc dsel.HardLocwrowrosenseObclei= 0HardLocwrothetaoC2robTf.geU("robTf",eitem, i,o'thr')o# in radiansHardLocwro# convert toeMMs.HardLocwrohitx=ccos(theta)i*odihto*o1000 + offxHardLocwrohityoC2ein(theta)i*odihto*o1000 + offyHardLocwrot _tcompuoiOccupancy(offx, offy, hitx, hity, arc, senseObcle, itHardLocrobTf.seU("robTf/%s/uni#s" % item, originalUni#st-- idmG_eredraw(t _tmolhbh 2m0xvali= 1HardLocfor em8 fasa"Mtrows):==:"s"srtdfor jm8 fasa"Mtcols).HardLocwrowrot _tcanvas.creaoi_rfmR l(int(jo* sa"MtcolScal),owrooc ssssssssssssssssssssssssssssssssssint(io* sa"MtrowScal),owrooc ssssssssssssssssssssssssssssssssssint((jo+ 1)o* sa"MtcolScal),owrooc ssssssssssssssssssssssssssssssssssint((io+ 1)o* sa"MtrowScal),owrooc sssssssssssssssssssssssssssssssssswidG: 0,owrooc sssssssssssssssssssssssssssssss ssiNi=sa"Mtcolor(t _tgrid[i][j],owrooc sssssssssssssssssssssssssssssss ssssssssssssssssssm0xval),owrooc sssssssssssssssssssssssssssssssssstaiG: "cell%d" % t _tstep)=owrodLLLLLLLlf elflhbel[i][j].HardLocwrowrodLoelfcanvas.creaoi_text(int((jo+ .5)o* sa"MtcolScal),owrooc ssssssssssssssssssssssssssssssssint((io+ .5)o* sa"MtrowScal),owrooc sssssssssssssssssssssssssssssssstext = elflhbel[i][j],owrooc ssssssssssssssssssssssssssssssssiNi="yellow",owrooc sssssssssssssssssssssssssssssssstaiG: "cell%d" % t _tstep)=owrodLelfcanvas.creaoi_oval(lsa"Mtwid / 2.0*- 10,owrooc sssssssssssssssssssssssssa"Mthets / 2.0*- 10,owrooc sssssssssssssssssssssssssa"Mtwid / 2.0*+ 10,owrooc sssssssssssssssssssssssssa"Mthets / 2.0*+ 10,owrooc ssssssssssssssssssssssssiNi : "red",owrooc sssssssssssssssssssssssstaiG: "cell%d" % t _tstep)=owrodLelfcanvas.creaoi_rfmR l(ssa"Mtwid / 2.0*+ 5,o===:"s"srtdssssrssssssssssssssssa"Mthets / 2.0*- 5,o===:"s"srtdssssrssssssssssssssssa"Mtwid / 2.0*+ 15,o===:"s"srtdssssrssssssssssssssssa"Mthets / 2.0*+ 5,o===:"s"srtdssssrsssssssssssssssiNi : "blue",owrooc sssssssssssssssssssssssstaiG: "cell%d" % t _tstep)=owrodLLLLLLLLLLLLLLLLLLLLLLLLLL_Dwiiiit _tstep : nTf t _tstep=owrodLelfcanvas.dlffte("cell%d" % t _tstep)=owrodLelfne!_idfftasksctxHsk(msg_: UT_DE)'--------'.HardlpsoC2LPS(1mlo10)Hardlps.redraw()Hardlps.appl cxRioni= 1Hardlps.----loop()=7777777777777777777777map/occupancyGridf/a VieMMO.o:: Vie1053 //=o71444546e TT03644465344666134h"16063./ 24747446745206160615475t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777bp.map.tkmapoiffmporTtMap : UhisoccupancyGrid(TtMap).Hard"="_DwiGUIvndfisualizehianoccupancy#gridostyle map.oo0 oo0 Tre mouseccan be usedodf ch foccupancy#values.HardPrfss ere leftbuttooond1.0_DwiPrfss ere middffbuttooond0.5_DwiPrfss ere rts buttoooond0.0 =owrCert--- keys providfoerer8funtionality.HardPrfss 'S' t eltrdgf s)*celloofvere*00th.HardPrfss 'G' t eltrdgf goalocelloofvere*00th.HardPrfss 'P' t pvere*00th.HardPrfss '2' eo doumeardgf sizeofvere*occupancy#grid.HardPrfss 'Q' eo quif.Hard"="_ idmG_eGene #**Ct _, s), goaltmolhbh 2menuoC2[('File',[['Load map...',t _tmyLoadMap],owrooc ssssssssssssssss['Save map...',t _tsaveMap],owrooc ssssssssssssssss['Exit',t _tdestroy] -ardLocwrowrodLLLLLLLLLL]),owrooc sssssss]o===:"skeybindehis C2[ ("", sa"MtincreaseCell),owrooc sssssssssssssss("", sa"MtmiddffCell),owrooc sssssssssssssss("", sa"MtdecreaseCell),owrooc sssssssssssssss("", sa"MtincreaseCell),owrooc sssssssssssssss("", sa"MtmiddffCell),owrooc sssssssssssssss("", sa"MtdecreaseCell),owrooc sssssssssssssss("", sa"MtfindP0th),owrooc sssssssssssssss("", sa"MteltS)),owrooc sssssssssssssss("", sa"MteltGoal),owrooc sssssssssssssss("", sa"MteltDoumea),owrooc sssssssssssssss("", sa"Mtdestroy)=owrodLLLLLLLLLLLLLLLLL]o===:"sTtMap.Gene #**Ct _, 5m, 50,o0.5,o===:"s"srtdssssrrrrrr200,s20mlo100lo100lo===:"s"srtdssssrrrrrr"OccupancyGrid", menu,skeybindehis)=owrodLelfthrfshholdv=o0.8=owrodLelflhitMatrixoC2t _tgrid "srtdselflhitP0thoC2NG__Dwiiiit _tst)*= s)_Dwiiiit _tgoalo= goal_Dwiiiit _tinfne #yoC21e5000-ardLoct _tbigButNotInfne #yoC25000-ardLoct _tvalueC2[[t _tinfne #yondcolm8 fasa"Mtcols)]o===:"s"srtdssssrtdsfdrown8 fasa"Mtrows)]o_DwimG_emyLoadMap(t _tmolhbh 2TtMap.loadMap(t _t-ardLoct _tredraw(t _.grid, NG_to_DwimG_eincreaseCellCt _, eve]))-ardLoct _tcanvas.focus_seU()-owrodLcellColoC2int(round(eve]).x /sa"MtcolScal))-owrodLcellRownC2int(round((eve]).y*- 15)/sa"MtrowScal)t-ardLoct _tgrid[cellRow][cellCol]v=o1.0-ardLoct _tredraw( t _.grid, NG_to_DwimG_emiddffCellCt _, eve]))-ardLoct _tcanvas.focus_seU()-owrodLcellColoC2int(round(eve]).x/sa"MtcolScal))-owrodLcellRownC2int(round((eve]).y*- 15)/sa"MtrowScal)t-ardLoct _tgrid[cellRow][cellCol]v=o0.5_DwiLoct _tredraw( t _.grid, NG_to_DwimG_edecreaseCellCt _, eve]))-ardLoct _tcanvas.focus_seU()-owrodLcellColoC2int(round(eve]).x/sa"MtcolScal))-owrodLcellRownC2int(round((eve]).y*- 15)/sa"MtrowScal)t-ardLoct _tgrid[cellRow][cellCol]v=o0.0-ardLoct _tredraw( t _.grid, NG_to_Dwi# Overloadidmoo0 mG_ech fSizeCt _, eve]) : 0tmolhbh 2sa"Mtwid =lsa"Mtwinfo_wid()*- 2olhbh 2sa"Mthets: sa"Mtwinfo_hets()*- 30i# wiemenu=owrodLelfcanvas.cf UT_ure(wid =lsa"Mtwid,shets =lsa"Mthets)=owrodLelfcolScalnC2int(round(sa"Mtwid / sa"Mtcols)t-ardLoct _trowScalnC2int(round(sa"Mthets / sa"Mtrows)t-ardLoctry.HardLocwrot _tredraw( t _.lhitMatrix,selflhitP0tht-ooooooexcept.HardLocwrosaay(H idmG_ecolor(t _, value, m0xvaluetmoo0 r= ifovalued==it _tinfne #y.HardLocwrorfturn "brown"oo0 r= valuev=o1.0 - valuev/ m0xvalueoo0 r= color : "gray%d" % int(valuev*o100.0)i_Dwiiiireturnmcolori- idmG_eeltDoumeaCt _, eve]))-ardLoct _trowso*= 2olhbh 2sa"MtrowScalnC2int(round(sa"Mthets / sa"Mtrows)t-ardLocsa"Mtcolso*= 2olhbh 2sa"MtcolScalnC2int(round(sa"Mtwid / sa"Mtcols)t-ardLoct _tvalueC2[[t _tinfne #yondcolm8 fasa"Mtcols)]o===:"s"srtdssssrtdsfdrown8 fasa"Mtrows)]oardLoct _tgridC2[[0.0ondcolm8 fasa"Mtcols)]o===:"s"srtdssssrtdfdrown8 fasa"Mtrows)]oardLoct _tredraw(t _.gridt-- idmG_esetGoalCt _, eve]))-ardLoct _tgoalo= int(round(eve]).x/sa"MtcolScal)), \ro0 r= f(sr_ce_ r= int(round((eve]).y*- 15)/sa"MtrowScal)t-ardLoct _tredraw(t _.gridt-- idmG_esetS)Ct _, eve]))-ardLoct _tst)*= int(round(eve]).x/sa"MtcolScal)), \ro0 r= f(sr_ce_ r= int(round((eve]).y*- 15)/sa"MtrowScal)t-ardLoct _tredraw(t _.gridt-- idmG_efindP0thCt _, eve]))-ardLoclf sa"Mtdebug:os====="Findehi*00th..."Hard olf elfgrid[t _tgoal[1]][t _tgoal[0]] >Lelfthrfshhold.HardLocwroraise "NoP0thExists", "goaloisin unatt---xmea locxRion"Hard oend : 10oDwiiiist)*= 0-ardLoct _tne #PP0thCt-ardLocdG_ = 0-ardLocp0thoC2NG__Dwiiiiwrile nTf dG_.HardLocwros====="Tryehi*%deiteraReon(..." % endHardLocwrotry.HardLocwroLocp0thoC2t _tpP0thCt _tst),ct _tgoal,8 fast),cend))==:"s"srtdsssdG_ = 1HardLoc dsexcept "NoP0thExists".HardLocwroLoclf end > 80.HardLocwrowrowrodG_ = 1HardLoc ds dsel.HardLocwrowrodLoet)*= endHardLocwroard oend *= 2olhbh 2s====="iteraReon(:", endHardLoclf p0th.HardLocwros====="DG_!" ===:"s"srt _tredraw(g.value, p0tht-ooooooel.HardLocwroraise "NoP0thExists", "m0ximum iboirxRionilimitsexceded"o- idmG_eredraw(t _, m0trix,sp0thoC2NG_)-ardLoct _tlhitMatrixoC2m0trix "srtdselflhitP0thoC2p0tholhbh 2m0xvali= 0.0-ardLocfor em8 fasa"Mtrows):==:"s"srtdfor jm8 fasa"Mtcols).HardLocwrowrol_em0trix[i][j]i!=it _tinfne #y.HardLocwrolhbh 2m0xvali= m0x(m0trix[i][j], m0xvalt-ooooooif m0xvali=: 0.2m0xvali= 1HardLocelfcanvas.dlffte("cell"t-oooooofor em8 fasa"Mtrows):==:"s"srtdfor jm8 fasa"Mtcols).HardLocwrowrot _tcanvas.creaoi_rfmR l(jo* sa"MtcolScal,owrooc ssssssssssssssssssssssssssssssssssio* sa"MtrowScal,owrooc ssssssssssssssssssssssssssssssssss(jo+ 1)o* sa"MtcolScal,owrooc ssssssssssssssssssssssssssssssssss(io+ 1)o* sa"MtrowScal,owrooc sssssssssssssssssssssssssssssssssswidG: 0,owrooc sssssssssssssssssssssssssssssss ssiNi=sa"Mtcolor(m0trix[i][j], m0xvalt,owrooc sssssssssssssssssssssssssssssssssstaiG: "cell")=owrodLLLLLLLlf p0thot *up0th[i][j]i== 1.HardLocwrowrodLoelfcanvas.creaoi_oval((jo+ .25)o* sa"MtcolScal,owrooc ssssssssssssssssssssssssssssssss(io+ .25)o* sa"MtrowScal,owrooc ssssssssssssssssssssssssssssssss(jo+ .75)o* sa"MtcolScal,owrooc ssssssssssssssssssssssssssssssss(io+ .75)o* sa"MtrowScal,owrooc sssssssssssssssssssssssssssssssswidG: 0,owrooc sssssssssssssssssssssssssssssss iNi : "blue",owrooc sssssssssssssssssssssssssssssssstaiG: "cell")==owrodLelfcanvas.creaoi_text(Ct _tst)[0] + .5)o* sa"MtcolScal,owrooc sssssssssssssssssssssssCt _tst)[1]o+ .5)o* sa"MtrowScal,owrooc ssssssssssssssssssssssstaiG: 'cell',owrooc ssssssssssssssssssssssstext="S)", fNi='green')=owrodLelfcanvas.creaoi_text(Ct _tgoal[0] + .5)o* sa"MtcolScal,owrooc sssssssssssssssssssssssCt _tgoal[1]o+ .5)o* sa"MtrowScal,owrooc ssssssssssssssssssssssstaiG: 'cell',owrooc ssssssssssssssssssssssstext="Goal", fNi='green')=- idmG_etooTts(t _, row,scol, i, jtmoo0 r= """ Check t el ifoyou aren't cuttehiacorner next t anobcle."""oo0 r= returnms _tvalue[rown+ i][col]v=C21e5000 ori\ro0 r= f(sr_ce_ r=s _tvalue[row][coln+ j]v=C21e5000o_DwimG_ein #PP0thCt _tmolhbh 2t _tvalueC2[[t _tinfne #yondcolm8 fasa"Mtcols)]sfdrown8 fasa"Mtrows)]o_DwimG_epP0thCt _, s), goal,eiteraRortmoo0 r= """oo0 r= P0thopnehi algorithmoisvbased on=G_ givenmby Thrun 8dgfoo0 r= chapoir2'Mapulearnehi a *uhts-speidonavigxRionoin Rhino'o-ardLoctre book 'ArtificialiIboilligenceoand Mobile RobTfs' edioid by-ardLocKortenkamp, Bonasso #t *uMurphy.==owrodLMade twoskeych fs toedgf algorithmogiven.oo0 r= 1. Whenmanoccupancy#promabilityoisvabovsome thrfshold,shisume=owrodL dLerat dgf celloisvoccupiedot *useUuits valuedfor search tf-ardLoc infne #y.oo0 r= 2. WhenmiteraRehi overvall cellsodf ne! ere search values, add-ardLoc invere dihtanc_Gbere curre])*cellodf its netsbor.wrCells_Dwiiii =rwrich*areihorizontal orivertical bere curre])*celloareHardLocwrocon(ideredodf bea dihtanc_Gofv1,iwrile cellsowrich*areidiagonal==:"s"srtdfbere curre])*celloareocon(ideredodf bea dihtanc_Gofv1.41.oo0 r= """oo0 r= s)Col, s)RownC2s)_DwiiiigoalCol, goalRownC2goal_Dwiiiilf nTf t _tinR fagoalRow,igoalCol).HardLocwroraise "goalOutOfMapR f"olhbh 2t _tvalue[goalRow][goalCol]i= 0.0-ardLocfor eoir2ineiteraRor:==:"s"srtdfor rown8 fasa"Mtrows):==:"s"srtdsssfor colm8 fasa"Mtcols).HardLocwrowrodLofor em8[-1,0,1].HardLocwrowrodLo tdfor jm8[-1,0,1].HardLocwrowrodLo td wrlf sa"MtinR farow+i,scol+j).HardLocwrowrodLodLo td wrlf sa"Mtgrid[row][col] >Lelfthrfshhold.HardLocwrooooooooooooooooooos _tvalue[row][col] =it _tinfne #yHardLocwrooooooooooooooooel.HardLocwrowrodLodLodLo td wrlf sa"MttooTts(row,scol, i, jtmoo0 r= d =it _tbigButNotInfne #yoo0 r= ellf xms(i)G:: 0 t *uxms(j)oC: 0.HardLocwro d =i0.00oo0 r= ellf xms(i)G:: 1 t *uxms(j)oC: 1.HardLocwrowrodLo d =i1.41oo0 r= el.HardLocwrowrodLodLodLo td wr d =i1.00oo0 r= adj =it _tvalue[row+i][col+j] +2sa"Mtgrid[row+i][col+j] +2dHardLocwroard ooooooooooooos _tvalue[row][col] =imin(t _tvalue[row][col], adjtHardLocreturnms _tgeUP0thCt)Row, s)Col)=- idmG_egeUP0thCt _, s)Row, s)Col).HardLocp0thoC2[[0ondcolm8 fasa"Mtcols)]dfdrown8 fasa"Mtrows)]oardLocrownC2s)Row_Dwi = colnC2s)Coloo0 r= sepsoC20oo0 r= wrile nTf (t _tvalue[row][col]i== 0.0tmolhbh 222up0th[row][col] =i1oo0 r= min =it _tbigButNotInfne #yoo0 r= nextRownC2-1oo0 r= nextColoC2-1oo0 r= for em8[-1, 0, 1].HardLocwrowrofor jm8[-1, 0, 1].HardLocwrowro wrlf sa"MtinR farow+i,scol+j).HardLocwrowrodLodLolf sa"Mtvalue[row+i][col+j] < min t *u\ro0 r= f(sr_ce_ r= r= nTf t _ttooTts(row,scol, i, jtmoo0 r= min =it _tvalue[row+i][col+j]oo0 r= nextRownC2row+ioo0 r= nextColoC2col+j-ardLoc if nextRownCC2-1moo0 r= raise "NoP0thExists" ===:"s"srtepso+=i1oo0 r= rownC2nextRowHardLocwrocolnC2nextColoo0 r= p0th[row][col] =i1oo0 r= s====="P0thoisv%drteps" % tepsHardLocreturnmp0thoHsk(msg_: UT_DE)'--------'.Hard# Anoccupancy#gridoofa simpleiworld wieanL-shaped obcleHardmapoC2[[0.0, 0.0lo0.0lo0.0lo0.5lo0.5lo0.5lo0.5lo0.5lo0.5],owrooc sss[0.5lo0.5lo0.5lo0.0lo0.5lo1.0lo1.0lo1.0lo1.0lo0.5],owrooc sss[1.0lo1.0lo0.5lo0.0lo0.5lo1.0lo0.5lo0.5lo1.0lo0.5],owrooc sss[1.0lo1.0lo0.5lo0.0lo0.5lo1.0lo0.5lo0.5lo0.5lo0.5],owrooc sss[0.5lo0.5lo0.5lo0.0lo0.5lo0.5lo0.5lo0.5lo1.0lo0.5],owrooc sss[0.0, 0.0lo0.0lo0.0lo0.5lo0.5lo0.5lo0.5lo1.0lo0.5],owrooc sss]oo0 iG: occupancyGrid((0lo0), (6, 2))oo0 i.seUGrid(2mapo)Hard# Find acp0thobposition 0,0 t a po====onmere oerer8sidfofHard# ere L-shaped obcle.oo0 i.redraw(map)o# forceseit t redrawvere map,8 erer8erandmG_aultoo0 i.appl cxRioni= 1Hardg.----loop()=7777777777777777777777777map/tkmapf/a VieMMO.o:: Vie1053 //=o71444546e TT03644465344666134h"16063./ 12321T03571523444613772t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777bp.mapoiffmporMap iffmporTtiboir iffmporp.guitwidgeUs.TKwidgeUsshi TKwidgeUs iffmporp.sytemshi sytem iffmporp.guitcon(oleiascon(ole : UhisTtMap(Map,8Ttiboir.Tktmoo0 r""" MapuwieTtiboiriGUIvnuncRions "="__DwidmG_eGene #**Ct _, cols #rows,lvalue,o===:"s"srtdssssrtwid,shets,o===:"s"srtdssssrtwidMM,shetsMM, titl,2menuoC2NG_lokeybindehis C2[]tmolhbh 222""" TtMap extends Map t *uTtiboiri"="_Dwiiii =Map.Gene #**Ct _, cols #rows,lwidMM,shetsMM)=owrodLLLTtiboir.Tk.Gene #**Ct _t_Dwiiii =sa"Mttitl(titl)iDwiiii =if menuoC= NG_.HardLocwrowromenuoC2[('File',[['Exit',t _tdestroy]])]o===:"s"skeybindehis.append(s("", sa"Mtch fSize)t_Dwiiii =sa"MtmenuButtoos C2{}_Dwiiii =sa"Mtdebugi= 0HardLocwrsa"Mtappl cxRioni= 0HardLocwrsa"MtwidG: widHardLocwrsa"Mthets =lhetsHardLocwrsa"MtcolScalnC2sa"Mtwid / sa"MtcolsHardLocwrsa"MtrowScalnC2sa"Mthets / sa"MtrowsHardLocwrsa"MtaddMenu(menut_Dwiiii =sa"Mtfr_: nC2Ttiboir.Fr_: Ct _,rellef=Ttiboir.RAISED,borderwid=2t_Dwiiii =sa"Mtfr_: .pack(sidf= "top", expand : "yes", fNi : "boer"t_Dwiiii =sa"MtcanvasnC2Ttiboir.Canvas(sa"Mtfr_: ,wid=sa"Mtwid,hets=sa"Mthetst_Dwiiii =sa"Mtcanvas.pack(sidf= "top", expand : "yes", fNi : "boer"t_Dwiiii =sa"MtaddKeyBindehis(keybindehis)=owrodLLoelfprotocol('WM_DELETE_WINDOW', sa"Mtdestroy)=owrodLLLsa"Mtne!_idfftasksctxDwiiii =sa"Mtcanvas.focus_seU()-owrodL =sa"Mtcanvas_wid_diff*= int(sa"Mtwinfo_wid())o-2int(sa"Mtcanvas["wid"]t_Dwiiii =sa"Mtcanvas_hets_diff*= int(sa"Mtwinfo_hets())o-2int(sa"Mtcanvas["hets"]t__DwidmG_eaddKeyBindehis(t _, keybindehis)molhbh 222""" Bind keys and mice eve])s toedgf canvasn"="_Dwiiii =for keyg_: ,vnunc -- keybindehis.HardLocwrowrot _tcanvas.bind(keyg_: ,vnunct__DwidmG_eaddMenu(t _, menutmolhbh 222""" Creaoi aomenuo"="_Dwiiii =sa"MtmBarnC2Ttiboir.Fr_: Ct _,rellef=Ttiboir.RAISED,borderwid=2t_Dwiiii =sa"MtmBar.pack(fNi=Ttiboir.X)_Dwiiii =for e])ryoin menu.HardLocwrowrot _tmBar.tk_menuBar(t _tmakeMenu(t _tmBar, e])ry[0],e])ry[1])t_Dwiiii =sa"MtmBar.pack(sidf= "top"t__DwidmG_emakeMenu(t _, bar, g_: ,vcommands)molhbh 222""" Aisumes=sa"MtmenuButtoos existso"="_Dwiiii =menuoC2Ttiboir.Menubuttoo(bar,text=g_: ,underliG_=0t_Dwiiii =sa"MtmenuButtoos[g_: ] =imenu=owrodL =menu.pack(sidf=Ttiboir.LEFT,padx="2m"t_Dwiiii =menu.iNemenuoC2Ttiboir.Menu(menut_Dwiiii =ndcmdoin commands.HardLocwrowromenu.iNemenutadd_command(lhbel=cmd[0],command=cmd[1]t_Dwiiii =menu['menu'] =imenu.iNemenu_Dwiiii =returnmmenu__DwidmG_ech fSizeCt _, eve]) : 0tmolhbh 2rotry.HardLocwroLocsa"MtwidG: int(sa"Mtwinfo_wid())o-2sa"Mtcanvas_wid_diffHardLocwroLocsa"Mthets =lint(sa"Mtwinfo_hets())o-2sa"Mtcanvas_hets_diffHardLocwrexcept.HardLocwro ooreturn="srtds= s=====sa"Mtwid,csa"MthetsxDwiiii =sa"Mtcanvas.cf UT_ure(wid =lsa"Mtwid,shets =lsa"Mthets)=owrodLro#s=====sa"Mtcanvas["wid"], sa"Mtcanvas["hets"]HardLocwrsa"MtcolScalnC2sa"Mtwid / sa"MtcolsHardLocwrsa"MtrowScalnC2sa"Mthets / sa"MtrowsHardLocwrsa"Mtredraw()H_DwidmG_eseUGrid(t _, gridt.HardLocwrMap.seUGrid(t _, gridtHardLocwrsa"Mtch fSizeC)H_DwidmG_edestroyCt _tmolhbh 222sa"Mtwithdraw()Hardh 222sa"Mtne!_idfftasksctxDwiiii =lf sa"Mtappl cxRion.HardLocwro ooTtiboir.Tk.destroyCt _tH_DwidmG_eredraw(t _tmolhbh 2= s====="warn: Neidodf overloaderedraw()obTtMap Uhis"olhbh 2= s====="colScal: %_, rowScal: %_" % (sa"MtcolScal,rsa"MtrowScaltH_DwidmG_eiNeloaddialog(t _, iNetyp,rskel, s)dirnC2''tmoo0 r= f(bstrehi iffmporreplaceHardLocwriffmporpoo0 r= f(bosriffmporgeUcwd,rgeUenv,vchdir_Dwiiii =retvali= ="_Dwiiii =cwdnC2geUcwdctxDwiiii =lf s)dirnCC2''.HardLocwro oochdir(p.pdir() +o"/plugins/" +oiNetyptxDwiiii =el.HardLocwrowrochdir(s)dirtxDwiiii =dnC2TKwidgeUs.LoadFileDialog(t _, "Load " +oiNetyp,rskel,HardLocwroard ooooooooooooooooooooooop.pdir() +o"/plugins/" +oiNetyptxDwiiii =ifod.Show()oC: 1.HardLocwrowrodocoC2d.GetFileN_: C)==:"s"srtdsssd.DialogCleanupC)==:"s"srtdsssretvali= docxDwiiii =el.HardLocwrowrod.DialogCleanupC)==:"s"srtchdir(cwd)_Dwiiii =returnmretvalH_DwidmG_eloadMap(t _tmolhbh 2rofi= sa"MtfNeloaddialog("maps","*.p"txDwiiii =ifofi!=i''.HardLocwro oosa"MtloadMapFile(_tH_DwidmG_eloadMapFile(t _, iNetmolhbh 2roiffmporosxDwiiii =ifofNe[-3:]i!=i'.p'.HardLocwro oofNei= fNei+i'.p'xDwiiii =lf sytemtfNe_exists(iNetmolhbh 2rooooogrido= sytemtloadINIT(iNetxDwiiii =ellf sytemtfNe_exists(os.geUenv('PYRO') +o\ro0 r= f(sr_ce_ r= r= '/plugins/maps/' +oiNe): olhbh 2rooooogrido= sytemtloadINIT(os.geUenv('PYRO') +o\ro0 r= f(sr_ce_ r= r= '/plugins/plots/' +oiNe)xDwiiii =el.HardLocwrowroraise 'Mapufile nTf found: ' +oiNeHardh 222sa"MtseUGrid(gridt-- iddmG_esaveMap(t _tmolhbh 2= saay(Hsk(msg_: UT_DE)'--------'.HardLs====="TesRehi TtMap()..."Hard mapoC2TtMap(8lo10, .5lo200,s20mlo500lo1000lo"SampleiMap"txDwiimapdisplay(txDwiimaprfset(txDwiimapdisplay(txDwiis====="SettehiGrid locxRion..."Hard maptseUGridLocxRion(40mlo900lo1.0lo"A"txDwiimapvali!Grid(txDwiis====="SettehiGrid to newosize..."Hard maptseUGrid(2[[0, 0, 0],owrooc sssssssssss[0, 1, 0],owrooc sssssssssss[0, 0, 0],owrooc sssssssssss[1, 0, 0]] txDwiimapvali!Grid(txDwiimapdisplay(txDwiis====="ANi dG_!" ===:mapappl cxRioni= 1HardLmap----loop()=777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/7777777777777777777777777777777777777777777777777777777777777777777777777777777777777770040755465344666134h"16063./ 10103440602-13201 5777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777701006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/brains/777777777777777777777777777777777777777777777777777777777777777777777777777777770040755465344666134h"16063./ 10120241151-14454 5777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777701006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/brains/Learnehi/777777777777777777777777777777777777777777777777777777777777777777777770040755465344666134h"16063./ 100735723444616235 5777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777701006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/brains/Learnehi/avoidf/a VieMMO.o:: Vie1053 //=o71444546e TT03644465344666134h"16063./ 02576067747303616 TT7714t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777#rrobTf goes=ndwardot *uthenmslowsot a stop whenmitdmGtectssomethehiHar bp.brainoiffmporBraino iffmporrt *-ar: UhisNNBrain(Brain): olhbh 2roooolhb# Giveedgf ntvew elnsors,edecidfere gext mov idmG_edetermineMovCt _, slnsors): olhbh 2i_esensors[2]do1000:oHardLocwrosa"MtdataiNe1.close()oHardLocwrosa"MtdataiNe2.close()oHardLocwros====="dG_ collectehi data"hHardLocwrorobTf.stopC)==:"s"srtdsa"MtquifC)==:"s"sellf se"Mtcoubottoppehi > 5:lolhbh 2roorobTf.mov(-0.3, 0.2)oHardLocwrosleep(0.5)oHardLocwrosa"Mtcoubottoppehi : 0i_Dwiiiiel. olhbh 2roos====="mov", sa"Mtcouboir, tr saoi,irotaoiHardLocwrosaveListToFile(LmapCt _tscal,rsansors),osa"MtdataiNe1)oHardLocwrosaveListToFile(mapC lambda x: (xo+ 1)/2.0lo[tr saoi,irotaoi]),owrooc ssssssssssssssssssa"MtdataiNe2)lolhbh 2roorobTf.mov(tr saoi,irotaoi)HardLocwrosa"Mtcouboiri+=i1o-ardLocwr mG_eINIT(robTftmo-ardrfturnmCollectDataBrain('CollectDataBrain',*robTft =777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/brains/Learnehi/deployf/a VieMMO.o:: Vie1053 //=o71444546e TT03644465344666134h"16063./ 02175067747303616 T20107t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# Load 8saved wetss(boffliG_ trainehiH# InpuUsshrfere ew ntvt nsordrfadehis H# OutpuUoisvaLtr saoi value, usedodf cntrolvere*robTf olhbobp.brainoiffmporBrainobobp.brain.cf xoiffmpor* o fbeimeoiffmpor*LL_Dwiii: UhisNNBrain(Brain): o_DwimG_eteUup(t _tmi _Dwiiiisa"Mtni= Network()o _Dwiiiisa"MtntaddThreeLayers(8,1,2)o _Dwiiiisa"Mtm0xvalue RielfgeURobTfC).geU('r f',o'm0xvalue'ti _Dwiiiisa"MtdG_Learnehii= 1o _Dwiiiisa"MtntloadWetssFFile("E05M01.wts")o _Dwiiiisa"MtntteULearnehi(0)i a idmG_escal(t _, valtmii_Dwiiiireturnmmin(m0x(vali/ sa"Mtm0xvalue, 0.0),1.0) a idmG_esep(t _tmii_DwiiiirobTf RielfgeURobTfC)ii_Dwiiii# SeUuinpuUss _Dwiiiisansors C2robTf.geU('r f',o'value', 'all')=owrodLsa"MtntgeULayer('inpuU').cfpyActevaReon((LmapCt _tscal,rsansors) ) _Dwiiiisa"MtntpropagaoiC)ii_Dwiiiitr saoiActuali= sa"MtntgeULayer('outpuU').actevaReon[0]d* 2*- 1.0-ardLocrotaoiActuali= sa"MtntgeULayer('outpuU').actevaReon[1]dd* 2*- 1.0-ardLocs====="mov", tr saoiActual,crotaoiActuali_DwiiiirobTf.mov(tr saoiActual,crotaoiActual)ii_Dwi mG_eINIT(robTftmoo-ardrfturnmNNBrain('NNBrain',*robTft =777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/brains/Learnehi/trainf/a VieMMO.o:: Vie1053 //=o71444546e TT03644465344666134h"16063./ 02 67747303616 TT7713t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# Trainoa networkboffliG_H# InpuUs: 7vt nsordrfadehis H# OutpuUs: tr saoi t *urotaoi values (unscald) olhbobp.brain.cf xoiffmpor* obp.sytemtlogoiffmpor* owiii:# Creaoi ere getworkb ni= Network()o ntaddThreeLayers(8,1,2)o# sizeofvinpuU, hidden, outpuU # SeUulearnehi par_: oirso ntteUEpsilon(0.5)oHntteUMomentum(0.0)i_ntteUToleranc_(0.05)oH#oset8inpuUsst *utargets (bcollectedodataoset)i_ntloadInpuUsFFile('sensorstdat')=ntloadTargetsFFile('targetstdat')=# LoggehiHlogo= Log(n_: nC2'E05M01.txt')o# for epsilono0.5 momentumo0.1 best C20i_for em8x fa0,1000l1tmo-ardtssError, totalCorrfmR, totalCou]) : nttweep() oo-ardcorrfmRperce]) : (totalCorrfmR*0.1)i/ (totalCou])*0.1)i_Dwilog.writfln( "Epocho# "+bstr(i)+o" TSS ERROR: "+bstr(tssError)+owrooc sssssssss" CorrfmR: "+bstr(totalCorrfmR)+o" Total Cou]): "+owrooc sssssssssstr(totalCou]))+o" %corrfmRi= =+bstr(corrfmRperce])))i_Dwiif best >=phi;olhbh 2rooosa"MtIF(too_left, 'rotaoi',*- float(too_left))olhbh 2r# Too much tfedgf rts:olhbh 2rifo(=phi > 0.1 tmolhbh 2roootoo_rts =lrts_of_goalo>>=phiolhbh 2rooosa"MtIF(too_rts, 'rotaoi',*too_rts)olhbh 2r# Closeness?olhbh 2rclose =lintirvali< 8.0.HardLocwro t _tgoto('A1')o: UhisA1 (Staoi)molhbh#eturnmleft 90dmGgreesolhbhmG_eteUup(t _tm_Dwiiii =sa"Mtcou]) : 0HDwiiii =sa"Mtadd(TurnLeft(1t)=:lhbhmG_eonActevaR(t _tmHDwiiii =sa"Mt =lsa"MtgeU('robTf/th')H:DwidmG_ene!(t _tmolhbh 2= =lsa"MtgeU('robTf/th')Hlhbh 2roifo lAdd(,s-=sa"Mt) > 90: olhbh 2rooooot _tgoto('A2')o: UhisA2 (Staoi)molhbh#egostrais for 1.5 m oirsolhbhmG_eteUup(t _tm_Dwiiii =sa"Mtadd(Strais(1t)=:lhbhmG_eonActevaR(t _tmh# : ohod called whenmactevaRdmordgotoidHardLocwrsa"Mts)X RielfrobTf.geU('robTf', 'x')lolhbh 2rosa"Mts)Y RielfrobTf.geU('robTf', 'y')lolhbh 2ro:DwidmG_ene!(t _tmolhbh 2= x RielfrobTf.geU('robTf', 'x')olhbh 2= y RielfrobTf.geU('robTf', 'y')olhbh 2= diht =idihtanc_(rsa"Mts)X,osa"Mts)Y, x, y)Lolhbh 2roifodiht > 1.5:HardLocwro2rot _tgoto('B1')o: UhisB1 (Staoi)molhbh#eturnmrts 90dmGgreesolhbhmG_eteUup(t _tm_Dwiiii =sa"Mtcou]) : 0HDwiiii =sa"Mtadd(TurnRis(1t)=:lhbhmG_eonActevaR(t _tmHDwiiii =sa"Mt =lsa"MtrobTf.geU('robTf', 'th')H:DwidmG_ene!(t _tmolhbh 2= =lsa"MtrobTf.geU('robTf', 'th')Hlhbh 2roifo lEqual( lAdd(,s-sa"Mt), 270tmolhbh 222u2rot _tgoto('B2')olhbh 2rooooo: UhisB2 (Staoi)molhbh#egostrais for 6.5 m oirsolhbhmG_eteUup(t _tm_Dwiiii =sa"Mtadd(Strais(1t)=:lhbhmG_eonActevaR(t _tmh# : ohod called whenmactevaRdmordgotoidHardLocwrsa"Mts)X RielfrobTf.geU('robTf', 'x')lolhbh 2rosa"Mts)Y RielfrobTf.geU('robTf', 'y')lolhbh 2ro:DwidmG_ene!(t _tmolhbh 2= x RielfrobTf.geU('robTf', 'x')olhbh 2= y RielfrobTf.geU('robTf', 'y')olhbh 2= diht =idihtanc_(rsa"Mts)X,osa"Mts)Y, x, y)Lolhbh 2roifodiht > 6.5:HardLocwro2rot _tgoto('C1')o: UhisC1 (Staoi)molhbh#eturnmleft 90dmGgreesolhbhmG_eteUup(t _tm_Dwiiii =sa"Mtcou]) : 0HDwiiii =sa"Mtadd(TurnLeft(1t)=:lhbhmG_eonActevaR(t _tmHDwiiii =sa"Mt =lsa"MtrobTf.geU('robTf', 'th')H:DwidmG_ene!(t _tmolhbh 2= =lsa"MtrobTf.geU('robTf', 'th')Hlhbh 2roifo lAdd(,s-=sa"Mt) > 90: olhbh 2rooooot _tgoto('C2')o: UhisC2 (Staoi)molhbh#egostrais for 8 : oirsolhbhmG_eteUup(t _tm_Dwiiii =sa"Mtadd(Strais(1t)=:lhbhmG_eonActevaR(t _tmh# : ohod called whenmactevaRdmordgotoidHardLocwrsa"Mts)X RielfrobTf.geU('robTf', 'x')lolhbh 2rosa"Mts)Y RielfrobTf.geU('robTf', 'y')lolhbh 2ro:DwidmG_ene!(t _tmolhbh 2= x RielfrobTf.geU('robTf', 'x')olhbh 2= y RielfrobTf.geU('robTf', 'y')olhbh 2= diht =idihtanc_(rsa"Mts)X,osa"Mts)Y, x, y)Lolhbh 2roifodiht > 8.0.HardLocwro t _tgoto('D1')o: UhisD1 (Staoi)molhbh#eturnmleft 90dmGgreesolhbhmG_eteUup(t _tm_Dwiiii =sa"Mtcou]) : 0HDwiiii =sa"Mtadd(TurnLeft(1t)=:lhbhmG_eonActevaR(t _tmHDwiiii =sa"Mt =lsa"MtrobTf.geU('robTf', 'th')H:DwidmG_ene!(t _tmolhbh 2= =lsa"MtrobTf.geU('robTf', 'th')Hlhbh 2roifo lAdd(,s-=sa"Mt) > 90: olhbh 2rooooot _tgoto('D2')olhbh 2rooooo: UhisD2 (Staoi)molhbh#egostrais for 12 : oirsolhbhmG_eteUup(t _tm_Dwiiii =sa"Mtadd(Strais(1t)=:lhbhmG_eonActevaR(t _tmh# : ohod called whenmactevaRdmordgotoidHardLocwrsa"Mts)X RielfrobTf.geU('robTf', 'x')lolhbh 2rosa"Mts)Y RielfrobTf.geU('robTf', 'y')lolhbh 2ro:DwidmG_ene!(t _tmolhbh 2= x RielfrobTf.geU('robTf', 'x')olhbh 2= y RielfrobTf.geU('robTf', 'y')olhbh 2= diht =idihtanc_(rsa"Mts)X,osa"Mts)Y, x, y)Lolhbh 2roifodiht > 12.0.HardLocwro t _tgoto('E1')o: UhisE1 (Staoi)molhbh#eturnmrts 90dmGgreesolhbhmG_eteUup(t _tm_Dwiiii =sa"Mtcou]) : 0HDwiiii =sa"Mtadd(TurnRis(1t)=:lhbhmG_eonActevaR(t _tmHDwiiii =sa"Mt =lsa"MtrobTf.geU('robTf', 'th')H:DwidmG_ene!(t _tmolhbh 2= =lsa"MtrobTf.geU('robTf', 'th')Hlhbh 2roifo lAdd(sa"Mt,s-) < 270: olhbh 2rooooot _tgoto('E2')olhbh 2rooooo: UhisE2 (Staoi)molhbh#egostrais for 2 : oirsolhbhmG_eteUup(t _tm_Dwiiii =sa"Mtadd(Strais(1t)=:lhbhmG_eonActevaR(t _tmh# : ohod called whenmactevaRdmordgotoidHardLocwrsa"Mts)X RielfrobTf.geU('robTf', 'x')lolhbh 2rosa"Mts)Y RielfrobTf.geU('robTf', 'y')lolhbh 2ro:DwidmG_ene!(t _tmolhbh 2= x RielfrobTf.geU('robTf', 'x')olhbh 2= y RielfrobTf.geU('robTf', 'y')olhbh 2= diht =idihtanc_(rsa"Mts)X,osa"Mts)Y, x, y)Lolhbh 2roifodiht > 2.0.HardLocwro t _tgoto('Done')o: UhisDone(Staoi)molhbhmG_ene!(t _tmolhbh 2= sa"MtrobTf.mov(0,0)o:mG_eINIT(enginetmi# saayes 8robTf, ifoyou neidoitxDwiibraino= BehaviorBasedBrain({'tr saoi' : engine.robTf.tr saoi,i\ro0 r= f(sr_ce_ r= r= 'rotaoi' : engine.robTf.rotaoi,i\ro0 r= f(sr_ce_ r= r= 'ne!' : engine.robTf.ne! }, engine)_Dwii#eadd a fewostaoismoo0 rbrain.add(S)(1t) # acteveoo0 rbrain.add(A1())o# non acteveoo0 rbrain.add(A2())o# non acteveoo0 rbrain.add(B1())o# non acteveoo0 rbrain.add(B2())o# non acteveoo0 rbrain.add(C1())o# non acteveoo0 rbrain.add(C2())o# non acteveoo0 rbrain.add(D1())o# non acteveoo0 rbrain.add(D2())o# non acteveoo0 rbrain.add(E1())o# non acteveoo0 rbrain.add(E2(1t) # acteveoo0 rbrain.add(Done())o# non acteveoo0 rrfturnmbrain=77777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/brains/BBSquaref/a VieMMO.o:: Vie1053 //=o71444546e TT03755465344666134h"16063./ 6063T0372521636 TT6516t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# A Behavior saquencehi sample # D.S. Bl o# Tgis Pexampleiwillego(roughly)Linoa square o# Tgis exampleihasvew etaois, "edge"ierat goes=strais, t *u"turn"o# erat turns 90dmGgrees tfedgf left. It bou]cesvback t *ufor betweeno# erfse ew etaois. o# No howrit=useseonActevaR() tferemember where it wasvwhenmitH#os)ed 8bTfh cases. It thenmmovs (dwardoor tfedgf left) u])ilH#oit hasvmovd enough. o# Exerciseseleft tfereader: :# 1. erisdoesn't avoid obscles;vwhat moyou doeoedoehat? :# 2. erisrelles completely on=odometry for locxlizxRioni(ii,iit=uses # dGadereckonehi);vwouldn't it=bedbetoirito add some typ of # ldmark-based sytem, ifoldmarksshrfavailable? :# 3. Tgis doesn't usevery sophist cxRed behaviorsofor turnehi or:# movehi. It would=bedbetoir, for example, ifoere eurnehi slowedodowno# whenmitdgot closerito itsedesiredo l. Howrwould=you doehat? :# 4. Ifoyou wantidodf traversea map,oyou would=neidodf haveba # differe])*etaoi for each position 8ere map You could gltraroundo# erat by usehi dgf onGoto() t *uGoto() : ohods. Butoyou would=havebto:# makeoere gext etaoi toegoto a par_: oir erat you saay . Why? obp.brain.fuzzyoiffmpor* bp.brain.behaviorsoiffmpor* bp.geometry iffmpor*LLo# iffmpordihtanc_ fu]ction iffmporm0thobrt * iffmporrt *-: UhisTurnLeftBehavior (BehaviortmolhbhmG_eteUup(t _tmHardLocwrsa"MtEffects('rotaoi',*.1)HardLocwrsa"MtEffects('tr saoi',*.1)oHolhbhmG_ene!(t _tmolhbh 2= sa"MtIF(1, 'rotaoi',*.1)HardLocwrsa"MtIF(1, 'tr saoi',*0)o: UhisStraisBehavior (BehaviortmolhbhmG_eteUup(t _tmh# : ohod called whenmcreaoidHardLocwrsa"MtEffects('tr saoi',*.1)oHardLocwrsa"MtEffects('rotaoi',*.1) o:DwidmG_ene!(t _tmolhbh 2= sa"MtIF(1, 'tr saoi',*.1)oHardLocwrsa"MtIF(1, 'rotaoi',*0)o: Uhisedge (Staoi)molhbhmG_eteUup(t _tm_Dwiiii =sa"Mtadd(StraisBehavior(1t)=:lhbhmG_eonActevaR(t _tmh# : ohod called whenmactevaRdmordgotoidHardLocwrsa"Mts)X RielfrobTf.geU('robTf', 'x')lolhbh 2rosa"Mts)Y RielfrobTf.geU('robTf', 'y')lolhbh 2ro:DwidmG_ene!(t _tmolhbh 2= x RielfrobTf.geU('robTf', 'x')olhbh 2= y RielfrobTf.geU('robTf', 'y')olhbh 2= diht =idihtanc_(rsa"Mts)X,osa"Mts)Y, x, y)Lolhbh 2ro#s====="actuali= (%f, %f)os)i= (%f, %f); diht =i%f"i\ro0 r= f(# % (x, y,rsa"Mts)X,osa"Mts)Y, dihttxDwiiii =ifodiht > 1.0.HardLocwro t _tgoto('eurn')o: Uhisturnm(Staoi)molhbhmG_eteUup(t _tm_Dwiiii =sa"Mtcou]) : 0HDwiiii =sa"Mtadd(TurnLeftBehavior(1t)=:lhbhmG_eonActevaR(t _tmHDwiiii =sa"Mt =lsa"MtrobTf.geU('robTf', 'th')H:DwidmG_ene!(t _tmolhbh 2= =lsa"MtrobTf.geU('robTf', 'th')Hlhbh 2ro#s====="actuali= %fos)i= %f"i% (,ssa"Mt)Hlhbh 2roifo lAdd(,s-=sa"Mt) > 90: olhbh 2rooooot _tgoto('edge')o:mG_eINIT(enginetmi# saayes 8robTf, ifoyou neidoitxDwiibraino= BehaviorBasedBrain({'tr saoi' : engine.robTf.tr saoi,i\ro0 r= f(sr_ce_ r= r= 'rotaoi' : engine.robTf.rotaoi,i\ro0 r= f(sr_ce_ r= r= 'ne!' : engine.robTf.ne! }, engine)_Dwii#eadd a fewostaoismoo0 rbrain.add(edge(1t)=owrobrain.add(turn(t)=owrorfturnmbrain=77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/brains/BBTestf/a VieMMO.o:: Vie1053 //=o71444546e TT03755465344666134h"16063./ 71726T03704526 616167t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# A Behavior-based sytem obp.brain.fuzzyoiffmpor* bp.brain.behaviorsoiffmpor* : Uhisbeh1 (BehaviortmolhbhmG_eteUup(t _tmi# called whenmcreaoidHardLocwrs====="---teUupializehi", sa"Mtn_: , "..."_Dwiiii =sa"MtEffects('tr saoi',*.6)o# dGfa valuesHardLocwrsa"MtEffects('rotaoi',*.6)o# nowrw don't havebtoeteUoerem again==lhbhmG_eonActevaR(t _tmHDwiiii =saayHDwiiii:DwidmG_ene!(t _tmolhbh 2= fuzzo= Fuzzy(5,o100)=owrodLdLs====="---ne!ehi", sa"Mtn_: , "..."_Dwiiii =sa"MtIF(Fuzzy(0,*1)o>> 0, 'rotaoi',*.96)i# can teUodGfa amou])HardLocwrsa"MtIF(1.0, 'rotaoi',*.5)HardLocwrsa"MtIF(Fuzzy(5,o6)o>> 6.5, 'rotaoi',*.5)HardLocwrsa"MtIF(1.0, 'tr saoi',*.5)=owrodLdLs====="---dG_ ne!ehi" : Uhisbeh2 (BehaviortmolhbhmG_eteUup(t _tmHardLocwrs====="---teUupializehi", sa"Mtn_: , "..."_Dwiiii =:lhbhmG_eonActevaR(t _tmHDwiiii =sa"MtEffects('tr saoi',*0.75)o# dGfa valuesHardLocwrsa"MtEffects('rotaoi',*0.75)==lhbhmG_eonDeactevaR(t _tmHDwiiii =s====='hfadehi out...'o:DwidmG_ene!(t _tmolhbh 2= s====="---ne!ehi", sa"Mtn_: , "..."_Dwiiii =sa"MtEffects('rotaoi',*.7)i# ch f affectordon flyHardLocwrsa"MtIF(.5, 'tr saoi',*0.1)HardLocwrsa"MtIF(1.0, 'rotaoi',*0.2)olhbh 2rosa"MtIF(1.0, 'rotaoi',*0.4)=owrodLdLs====="---dG_ ne!ehi" : Uhisstaoi1 (Staoi)molhbhmG_eteUup(t _tm_Dwiiii =sa"Mtadd(beh1(1t)=owrodLdLsa"Mtadd(beh2(1t)=owrodLdLsa"Mtadd(beh2(1, {}, 'beh3't)=owrodLdLs====="teUupialized staoi", sa"Mtn_: H_DwidmG_eonActevaR(t _tmolhbh 2= sa"Mtcou]) : 0H_DwidmG_eonDeactevaR(t _tmHDwiiii =# makeomotors stop FIX!HDwiiii =s====='hfadehi outiof staoi1...'o:DwidmG_ene!(t _tmolhbh 2= s====="Ue!ehi staoi1..."_Dwiiii =#8let's cou]) tilletenma *uthenmlet's ch f staoiHardLocwrsa"Mtcou]) : sa"Mtcou]) + 1HardLocwrlf se"MtcoubooC: 10.HardLocwro t _tgoto('staoi_empty')olhbh 2= s====="Finishd execuehi step number ",se"Mtcouboolhbh 2=: Uhisstaoi_empty (Staoi)molhbhmG_eonActevaR(t _tmh# called whenmitdgets actevaRd_Dwiiii =sa"Mtcou]) : 0HDwiiii =s====="ActevaRehi staoi_empty!"==lhbhmG_eonDeactevaR(t _tmHDwiiii =s====='hfadehi outiof staoi_empty...'o:DwidmG_ene!(t _tmolhbh 2= s====="Ue!ehi Empty staoi"_Dwiiii =#8let's cou]) tille10ma *uthenmlet's ch f staoiHardLocwrsa"Mtcou]) : sa"Mtcou]) + 1HardLocwrlf se"MtcoubooC: 10.HardLocwro t _tgoto('staoi1')o# fork etaois, G_ wi args.HardLocwro t _tgoto('staoi3', sa"Mtcoubo, sa"Mtcou]) + 1,i\ro0 r= f(sr_ce_ r= r= sa"Mtcou]) + 2)o# it's okrlf it isalready acteveoo0 r 2= s====="Finishd execuehi step number ",se"Mtcouboo: Uhisstaoi3 (Staoi)molhbhmG_eteUup(t _tm_Dwiiii =sa"Mtadd(beh1(t)=owrodLdLsa"Mtx : 0HDwiiii =sa"Mty : 0HDwiiii =sa"Mtz C20iiiiiiiii==lhbhmG_eonGoto(sa"M, argvtmh# argv isoptional unleisyou saay vars_Dwiiii =lf len(argvtoC: 3.HardLocwro s====='x :', argv[0]HardLocwro s====='y :', argv[1]HardLocwro s====='z :', argv[2]HardLocwro t _tx : argv[0]HardLocwro sa"Mty : argv[1]HardLocwro sa"Mtz C2argv[2]H=lhbhmG_eonDeactevaR(t _tmHDwiiii =s====='hfadehi outiof staoi3...'o:DwidmG_ene!(t _tmolhbh 2= s====="Staoi1 staous =", sa"MtgetStaoi('staoi1').staousolhbh 2= s====="Ue!ehi Staoi3!"==mG_eINIT(enginetmi# saayes 8engine, ifoyou neidoitxDwiibraino= BehaviorBasedBrain({'tr saoi' : engine.robTf.tr saoi,i\ro0 r= f(sr_ce_ r= r= 'rotaoi' : engine.robTf.rotaoi,i\ro0 r= f(sr_ce_ r= r= 'ne!' : engine.robTf.ne! }, engine)_Dwii#eadd a fewostaoismoo0 rbrain.add(staoi1())o# non acteveoo0 rbrain.add(staoi1(0,*'staoi2'))o# not acteve, n_: Hlhbhbrain.add(staoi_empty(t)=owrobrain.add(staoi3())_Dwii#eactevaR a staRmoo0 rbrain.actevaR('staoi1')o# could havebmade it acteveoin constructorio0 rrfturnmbrain==777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/brains/BBTest2f/a VieMMO.o:: Vie1053 //=o71444546e TT03755465344666134h"16063./ 71616T03704526 616247t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777bp.brain.fuzzyoiffmpor* bp.brain.behaviorsoiffmpor* : Uhisbeh1 (BehaviortmolhbhmG_eteUup(t _tmi# called whenmcreaoidHardLocwrs====="---teUupializehi", sa"Mtn_: , "..."_Dwiiii =sa"MtEffects('tr saoi',*1.0)h# dGfa valuesHardLocwrsa"MtEffects('rotaoi',*1.0)h# nowrw don't havebtoeteUoerem again==lhbhmG_eonActevaR(t _tmHDwiiii =saayHDwiiii:DwidmG_ene!(t _tmolhbh 2= fuzzo= Fuzzy(5,o100)=owrodLdLs====="---ne!ehi", sa"Mtn_: , "..."_Dwiiii =sa"MtIF(Fuzzy(0,*1)o>> 0, 'rotaoi',*.96)i# can teUodGfa amou])HardLii =sa"MtIF(1.0, 'rotaoi',*.5)HardLocwrsa"MtIF(Fuzzy(5,o6)o>> 6.5, 'rotaoi',*.5)HardLocwrsa"MtIF(1.0, 'tr saoi',*.5)=owrodLdLs====="---dG_ ne!ehi" : Uhisbeh2 (BehaviortmolhbhmG_eteUup(t _tmHardLocwrs====="---teUupializehi", sa"Mtn_: , "..."_Dwiiii =:lhbhmG_eonActevaR(t _tmHDwiiii =sa"MtEffects('tr saoi',*1.0)h# dGfa valuesHardLocwrsa"MtEffects('rotaoi',*1.0)==lhbhmG_eonDeactevaR(t _tmHDwiiii =s====='hfadehi out...'o:DwidmG_ene!(t _tmolhbh 2= s====="---ne!ehi", sa"Mtn_: , "..."_Dwiiii =sa"MtEffects('rotaoi',*.7)i# ch f affectordon flyHardLocwrsa"MtIF(.5, 'tr saoi',*0.1)HardLocwrsa"MtIF(1.0, 'rotaoi',*0.2)olhbh 2rosa"MtIF(1.0, 'rotaoi',*0.4)=owrodLdLs====="---dG_ ne!ehi" : Uhisstaoi1 (Staoi)molhbhmG_eteUup(t _tm_Dwiiii =sa"Mtadd(beh1(1t)=owrodLdLsa"Mtadd(beh2(1t)=owrodLdLsa"Mtadd(beh2(1, {}, 'beh3't)=owrodLdLs====="teUupialized staoi", sa"Mtn_: H_DwidmG_eonActevaR(t _tmolhbh 2= sa"Mtcou]) : 0H_DwidmG_eonDeactevaR(t _tmHDwiiii =#engine.robTf.act('mov',*0,*0) FIXHDwiiii =s====='hfadehi outiof staoi1...'o:DwidmG_ene!(t _tmolhbh 2= s====="Ue!ehi staoi1..."_Dwiiii =#8let's cou]) tilletenma *uthenmlet's ch f staoiHardLocwrsa"Mtcou]) : sa"Mtcou]) + 1HardLocwrlf se"MtcoubooC: 10.HardLocwro t _tgoto('staoi_empty')olhbh 2= s====="Finishd execuehi step number ",se"Mtcouboolhbh 2=: Uhisstaoi_empty (Staoi)molhbhmG_eonActevaR(t _tmh# called whenmitdgets actevaRd_Dwiiii =sa"Mtcou]) : 0HDwiiii =s====="ActevaRehi staoi_empty!"==lhbhmG_eonDeactevaR(t _tmHDwiiii =s====='hfadehi outiof staoi_empty...'o:DwidmG_ene!(t _tmolhbh 2= s====="Ue!ehi Empty staoi"_Dwiiii =#8let's cou]) tille10ma *uthenmlet's ch f staoiHardLocwrsa"Mtcou]) : sa"Mtcou]) + 1HardLocwrlf se"MtcoubooC: 10.HardLocwro t _tgoto('staoi1')o# fork etaois, G_ wi args.HardLocwro t _tgoto('staoi3', sa"Mtcoubo, sa"Mtcou]) + 1,i\ro0 r= f(sr_ce_ r= r= sa"Mtcou]) + 2)o# it's okrlf it isalready acteveoo0 r 2= s====="Finishd execuehi step number ",se"Mtcouboo: Uhisstaoi3 (Staoi)molhbhmG_eteUup(t _tm_Dwiiii =sa"Mtadd(beh1(t)=owrodLdLsa"Mtx : 0HDwiiii =sa"Mty : 0HDwiiii =sa"Mtz C20iiiiiiiii==lhbhmG_eonGoto(sa"M, argvtmh# argv isoptional unleisyou saay vars_Dwiiii =lf len(argvtoC: 3.HardLocwro s====='x :', argv[0]HardLocwro s====='y :', argv[1]HardLocwro s====='z :', argv[2]HardLocwro t _tx : argv[0]HardLocwro sa"Mty : argv[1]HardLocwro sa"Mtz C2argv[2]H=lhbhmG_eonDeactevaR(t _tmHDwiiii =s====='hfadehi outiof staoi3...'o:DwidmG_ene!(t _tmolhbh 2= s====="Staoi1 staous =", sa"MtgetStaoi('staoi1').staousolhbh 2= s====="Ue!ehi Staoi3!"==mG_eINIT(enginetmxDwiibraino= BehaviorBasedBrain({'tr saoi' : engine.robTf.tr saoi,i\ro0 r= f(sr_ce_ r= r= 'rotaoi' : engine.robTf.rotaoi,i\ro0 r= f(sr_ce_ r= r= 'ne!' : engine.robTf.ne! }, engine)__Dwii#eadd a fewostaoismoo0 rbrain.add(staoi1())o# non acteveoo0 rbrain.add(staoi1(0,*'staoi2'))o# not acteve, n_: Hlhbhbrain.add(staoi_empty(t)=owrobrain.add(staoi3())_Dwii#eactevaR a staRmoo0 rbrain.actevaR('staoi1')o# could havebmade it acteveoin constructorio0 rrfturnmbraino# rfturnmobject wi .run(), t *u.sep()=777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/brains/BBWt *erf/a VieMMO.o:: Vie1053 //=o71444546e TT03755465344666134h"16063./ 42566T0372702246 TT6474t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# A Behavior-based cntrol sytem obp.brain.fuzzyoiffmpor* bp.brain.behaviorsoiffmpor* bp.brainoiffmporsa"ect iffmporm0th,reime : UhisAvoid (Behaviortmolhbh"""Avoid CUhis"""olhbhmG_eteUup(t _tmi# called whenmcreaoidHardLocwr"""teUup : ohod"""olhbho sa"Mtlhiteimeo=reime.eime()olhbh 2= sa"Mtcou]) : 0H_DwidmG_edirfmRion(t _, dirtmolhbh 2= """ computeseoppositeedirfmRion gevenma o l"""olhbho ifodir >rclose_diht,o'tr saoi',*0.3,*"Ok")HardLocwrsa"MtIF(Fuzzy(0.1, max_sensiteve)i<>rclose_diht,o'rotaoi',*0.0,*"Ok")H: UhisTurnAround(Staoi)molhbhmG_ene!(t _tmolhbh 2= lf min(t _tgeU("/robTf/ f/fnt-all/value")) < 1.0.HardLocwro t _trobTf.mov(0,*.2)olhbh 2roel.HardLocwrowrose"Mtgoto("staoi1")o: Uhisstaoi1 (Staoi)molhbh""" sample etaoi """olhbhmG_eteUup(t _tm_Dwiiii =sa"Mtadd(Avoid(1, {'tr saoi': .3,*'rotaoi': .3}t)=owrodLdLs====="initialized staoi", sa"Mtn_: HlhbhmG_ene!(t _tmolhbh 2= lf min(t _tgeU("/robTf/ f/fnt-all/value")) < 1.HardLocwrowrose"Mtgoto("TurnAround")o:mG_eINIT(enginetmi# saayes 8robTf, ifoyou neidoitxDwiibraino= BehaviorBasedBrain({'tr saoi' : engine.robTf.tr saoi,i\ro0 r= f(sr_ce_ r= r= 'rotaoi' : engine.robTf.rotaoi,i\ro0 r= f(sr_ce_ r= r= 'ne!' : engine.robTf.ne! }, engine)_Dwii#eadd a fewostaoismoo0 rbrain.add(staoi1())o# non acteveoo0 rbrain.add(TurnAround())o# non acteveo_Dwii#eactevaR a staRmoo0 rbrain.actevaR('staoi1')o# could havebmade it acteveoin constructorio0 rrfturnmbrain=7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/brains/BBWt *erAndCapturef/a VieMMO.o:: Vie1053 //=o71444546TT03755465344666134h"16063./ 64416T03704526 620435t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# A Behavior-based sytem obp.brain.fuzzyoiffmpor* bp.brain.behaviorsoiffmpor* bp.brain.behaviors.cfreoiffmpor*LL# Stop iffmporm0thobrt * iffmporrt *-iffmporeime : UhisAvoid (BehaviortmolhbhmG_eteUup(t _tmi# called whenmcreaoidHardLocwrsa"MtEffects('tr saoi',*.3)oHardLocwrsa"MtEffects('rotaoi',*1)HardLocwrsa"Mtlhiteimeo=r0HDwiiii =sa"Mtcou]) : 0H_DwidmG_edirfmRion(t _, valuetmolhbh 2roifovalued< 0.HardLocwro rfturnm-1HardLocwrel.HardLocwrowrorfturnm1H_DwidmG_ene!(t _tmolhbh 2= se"Mtcouboo+=i1oocwro lf se"MtcoubooC: 50.HardLocwro curreimeo=reime.mkeime(eime.locxleime()t_Dwiiii =====s====="================================Loopoin", (curreimeo-rsa"Mtlhiteime)/50.0,*"seconds."_Dwiiii =ii =sa"Mtcou]) : 0HDwiiii =ii =sa"Mtlhiteimeo=rreime.mkeime(eime.locxleime()t_oocwro close =lsa"ect(min, "value", sa"MtrobTf.geU("robTf/ f/all/value,th"t)=owrodLdLclose_diht C2close.value=owrodLdLclose_ l C2close.th /rm0th.piolhbh 2ros====="Closesordihtanc_ is:",Lclose_diht_Dwiiii =#8FIX:edirfmRionHardLocwrsa"MtIF(Fuzzy(1.0, 3.0)h<i\ro0 r= f(sr_ce_ rblob.blob_at(data.blobliht,obigred).mhis.HardLocwro oobigredo: iHardLocs====="got largest.."_Dwiiiipos : blob.blob_at(data.blobliht,bigred).cm_xolhbh 2tcalepos : (ta"Mtcwid/2 -ipos)/ta"Mtcwid_Dwiiiis====="%f\t%f"i% (pos,2tcalepos)HardLocsa"MtnStep : sa"MtnStep + 1HardLoclf min(t _trobTf.geU('robTf/ f/fnt/value't) > .4.HardLocwros====="Turnehi..."_Dwiiii = t _trobTf.mov(.1, tcalepos*2)olhbh 2roos====="Turned"_Dwiiiiel.HardLocwros====="Stoppehi..."_Dwiiii = t _trobTf.mov(0,*0)HardLocwros====="Stopped"_Dwiiii :# -------------------------------------------------------o# Tgis isdgf intiri for callehi begf gui engine.o# Takeseone par_: (a8engine), t *urfturns a Brainmobject::# -------------------------------------------------------o=mG_eINIT(enginetmxDwirfturnmSimpleBrain('SimpleBrain', engine)_Dwiiii 77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/brains/Braitenbergf/a VieMMO.o:: Vie1053 //=o71444546e TT03755465344666134h"16063./ 15376T03704526 617267t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777"""oA Braitenberg Vehicli for egf Khep raoD.S. Bl """o # iffmporsome additional librariismo=bp.brainoiffmporBrain=bm0thoiffmporfabso # sub Uhisbrain: : UhisVehicli(Braintmo ii#eOnly : ohod you havebtoemG_ine for aibrainoisdgf step : ohodmo=owrmG_etep(t _tmolhbh 2eleft =lsa"MtrobTf.geU('/robTf/lts/1/value'tii#eKhep ra specificolhbh 2erts =lsa"MtrobTf.geU('/robTf/lts/4/value'ti#eKhep ra specificoolhbh 2eturnm: (rts - left) /rm0x(t _trobTf.geU('/robTf/lts/all/value't)=owrodLddwardo= .3*- fabs(turn **.3)o#egowhenmno ltsoolhbh 2et _trobTf.mov(dward,eturn) o# Tg_ fu]ctioneINIT erat takesea8robTf t *urfturns a brain: :mG_eINIT(enginetmxDwilf engine.robTf.geU('/robTf/typ'ti!= 'khep ra'molhbh 2raise "RobTf should haveblts sensors!"_Dwis====="OK:8robTf hasvlts sensors."_DwirfturnmVehicli('Braitenberg', engine)_Dwiiii 77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/brains/CamMovrf/a VieMMO.o:: Vie1053 //=o71444546e TT03755465344666134h"16063./ 11436T03704526 616545t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777bp.brainoiffmporBrain=bp.robTf.saphira iffmpor* bp.brain.fuzzyoiffmpor* -iffmporeime : UhisSimpleBrain(Braintmo ii#eOnly : ohod you havebtoemG_ine isdgf step : ohodmoiiii owrmG_etep(t _tmo #t _trobTf.c_: ra.ne!()_ #t _trobTf.c_: ra.track(cutoff=4.0,mode='yellow')olhbh 2= saayH:# -------------------------------------------------------o# Tgis isdgf intiri for callehi begf gui engine.o# Takeseone par_: (egf robTf), t *urfturns a Brainmobject::# -------------------------------------------------------o=mG_eINIT(enginetmxDwirfturnmSimpleBrain('SimpleBrain', engine)_Dwiiii 77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/brains/Developf/a VieMMO.o:: Vie1053 //=o71444546e TT03755465344666134h"16063./ 1656344670022425 TT646 t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777bp.brainoiffmporBrain=bp.gui.plTf.scatoiriiffmpor* brt * iffmporrt *-beimeoiffmporsleep=bm0thoiffmporsqrt, fabs, flooro=bOpenGL.Tkoiffmpor* -# some tesordata for offline work::# a differe]cebmatrix: data : [[0,*0.85162,*1.1705,*1.16898,*1.13626,*1.02382,*1.02108,*0.92296,*1.03327,*1.12973,*1.17869,*1.27797,*1.44365,*1.35182,*1.0667,*0.32486],olhbh 2= [0,*0,*0.57832,*0.82448,*1.2327,*1.2223,*1.1779,*1.15408,*1.15861,*1.02119,*1.01911,*0.99189,*1.14645,*1.25696,*1.21544,*0.97718],olhbh 2= [0,*0,*0,*0.51826,*0.96656,*1.13812,*1.1872,*1.2268,*1.22425,*1.07375,*0.95339,*0.88097,*1.04973,*1.26618,*1.24508,*1.28552],olhbh 2= [0,*0,*0,*0,*0.7447,*1.01882,*1.17506,*1.21854,*1.25219,*1.16075,*1.06309,*0.86337,*0.98763,*1.1755,*1.33068,*1.23092],olhbh 2= [0,*0,*0,*0,*0,*0.60992,*0.97836,*0.9507,*1.10329,*1.31973,*1.26875,*0.99859,*1.00877,*1.01182,*1.04522,*1.17952],olhbh 2= [0,*0,*0,*0,*0,*0,*0.66822,*0.9757,*1.14735,*1.25217,*1.22617,*1.14443,*1.07133,*0.99356,*1.034,*1.04802],olhbh 2= [0,*0,*0,*0,*0,*0,*0,*0.90886,*1.01515,*1.28035,*1.27681,*1.19291,*1.18413,*1.03972,*0.88406,*0.92036],olhbh 2= [0,*0,*0,*0,*0,*0,*0,*0,*0.43665,*1.12803,*1.32311,*1.31291,*1.27895,*1.15522,*0.9602,*0.85752],olhbh 2= [0,*0,*0,*0,*0,*0,*0,*0,*0,*1.0481,*1.23462,*1.17394,*1.23808,*1.18885,*1.08355,*0.94339],olhbh 2= [0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0.552,*0.99686,*1.23766,*1.37767,*1.31309,*1.20307],olhbh 2= [0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0.63242,*1.0932,*1.38771,*1.37423,*1.28383],olhbh 2= [0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0.61038,*1.08169,*1.23097,*1.27565],olhbh 2= [0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0.67671,*1.05147,*1.44325],olhbh 2= [0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0.6813,*1.1955],olhbh 2= [0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0.93454],olhbh 2= [0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0,*0]]o=mG_edihtanc_(x1,*y1,*x2,*y2tmxDwirfturnmsqrt( (x1 -*x2t *o(x1 -*x2t + (y1 -*y2t *o(y1 -*y2t)_Dwi: UhisRelax: owrmG_e__init__(t _, numtmolhbh 2ta"Mtpoint_x : []olhbh 2ta"Mtpoint_y : []olhbh 2ta"Mtnum : numolhbh 2ta"Mteimeo=r0.0olhbh 2ta"Mtmaxeimeo=rT030.0olhbh 2ta"Mtscatoiri= Scatoir(titl C2'Tg_ Kuipers Experiment',olhbh 2= history : [16], linecou]) : 1,*wid=400,*hets=300,olhbh 2= legendo= ["16thoSonSensor"],olhbh 2= xS)=-2,*xEndo= 3,olhbh 2= yS)=-2,*yEndo= 3)_Dwiiiifor i8 f(numtmolhbh 2 2ta"Mtpoint_x.append(rt *()t_Dwiiii ==ta"Mtpoint_y.append(rt *()t_Dwiiiisa"Mtgraph()o=owrmG_etep(t _, difftmolhbh 2incro=r0.1olhbh 2ta"Mteimeo+=i1.0olhbh 2temp : .01 # 1.0 -*(ta"Mteimeo/2ta"Mtmaxeimetii#e.05o# neidoa2temp schedule_Dwiiiifor i8 f(ta"Mtnumtmolhbh 2 2#is====="Relax.sep", iHardLoc rrt * : rt *()olhbh 2 2#s=====rt *,2tempolhbh 2= ifort * <2temp:o#egowi abrt * choice, ovrride ex, eyolhbh 2= s=====" Rt *!"_Dwiiii =ii =ex : floor(rt *() *o3) -*1_Dwiiii =ii =ey : floor(rt *() *o3) -*1_Dwiiii =iel.HardLocwrowroox Rielfpoint_x[i] olhbh 2rooooooy Rielfpoint_y[i]_Dwiiii =ii =emino= 163./ HardLocwro oofor px8 f(-1,2):olhbh 2= for py8 f(-1,2):olhbh 2= ielfpoint_x[i] =oox + px*2incrolhbh 2= ielfpoint_y[i] =ooy + py*2incrolhbh 2= ieo=lsa"Mtenergy(difftolhbh 2= ilf e <2emin:olhbh 2= ii =emino= eolhbh 2= ii =ex Ripxolhbh 2= ii =eyo= polhbh 2 2ta"Mtpoint_x[i] =oox + ex*2incrolhbh 2= elfpoint_y[i] =ooy + ey*2incrolhbh 2s====="MinoEnergy:",Lemin, "aoreime", sa"Mteime h 2= elfgraph()o=owrmG_egraph(t _tmolhbh 2for i8 f(ta"Mtnumtmolhbh 2 2ox Rielfpoint_x[i] olhbh 2roooy Rielfpoint_y[i]_Dwiiii =ita"Mtscatoir.addPoint(2ox, oy)o=owrmG_edihplay(t _tmolhbh 2s====="-------------------------------------------------------------------------"olhbh 2for i8 f(ta"Mtnumtmolhbh 2 2s=====elfpoint_x[i],ielfpoint_y[i]_Dwiiiis====="-------------------------------------------------------------------------"olhbh 2222222=owrmG_eenergy(t _, difftmolhbh 2eo=r0HDwiiiifor i8 f(ta"Mtnumtmolhbh 2 2for j8 f(i + 1,ita"Mtnumtmolhbh 2 2 ro#s====="Computehi energy:",Li, j, diff[i][j]_Dwiiii =ii =d =idihtanc_(elfpoint_x[i],ielfpoint_y[i],i\ro0 r= f(sr_ce_ r= r= elfpoint_x[j],ielfpoint_y[j]) -*diff[i][j]_Dwiiii =ii =eo+=id*2dolhbh 2eo/=i1.5o# largest*diff?_Dwiiiirfturnme : UhisDevelopBrain(Braintmo ii#eOnly : ohod you havebtoemG_ine isdgf step : ohodmo=owrmG_eteUup(t _tm_Dwiiiisa"Mteo=r0HDwiiiisa"Mtdata : []olhbh 2ta"Mtlhitxo=r0HDwiiiisa"Mtlhityo=r0HDwiiiisa"Mtcaptureo= 16HDwiiiisa"Mtdiht_away_enough : .25HardLoclf t _trobTfmolhbh 2 2ta"Mtetaoi C2'capture'o# initial etaoi C2'capture', 'analyze'_Dwiiiiel.HardLocwrota"Mtetaoi C2'analyze'_Dwiiiit _trelax C2Relax(16)i# someeimes runnehi off line: don't query robTf for couboo: wrmG_etep(t _tmolhbh 2lf t _tetaoi CC2'capture'molhbh 2= ifosa"Mteo sa"Mtdiht_away_enough:olhbh 2= s=====" Capture #", sa"Mteolhbh 2= sa"Mtdata.append([]tolhbh 2= for i8 f(ta"MtrobTf.geU('son', 'coubo')):olhbh 2= is=====".",olhbh 2= sa"Mtdata[sa"Mte].append(ta"MtrobTf.geU('son', 'value',oi)tolhbh 2= ta"Mtlhitxo=relfrobTf.geU('robTf', 'x')olhbh 2= iisa"Mtlhityo=relfrobTf.geU('robTf', 'y')olhbh 2= ===s====="Done!"_Dwiiii =ii = iisa"Mteo+=i1oocwro oel.HardLocwrowrose"MtrobTf.mov(0,*0)HardLocwro rota"Mtetaoi C2'avrage'_Dwiiiiiiitr saoi : rt *()*22.0 -*1oocwro orotaoi o: rt *()*22.0 -*1oocwro ose"MtrobTf.mov(tr saoi,irotaoit_Dwiiii ==tleep(1.0)h# gofor aibit_Dwiiiiellf t _tetaoi CC2'avrage'.HardLocwrota"Mtdiff : []olhbh 2 for i8 f(ta"MtrobTf.geU('son', 'coubo')):olhbh 2= ta"Mtdiff.append([]tolhbh 2= for j8 f(ta"MtrobTf.geU('son', 'coubo')):olhbh 2= ta"Mtdiff[i].append(0)HardLocwrofor e8 f(ta"Mtcapture):olhbh 2= for i8 f(ta"MtrobTf.geU('son', 'coubo')):olhbh 2= for j8 f(i + 1,ita"MtrobTf.geU('son', 'coubo')):olhbh 2= ita"Mtdiff[i][j]o+=ifabs(sa"Mtdata[t][i] - sa"Mtdata[t][j])olhbh 2 for i8 f(ta"MtrobTf.geU('son', 'coubo')):olhbh 2= for j8 f(ta"MtrobTf.geU('son', 'coubo')):olhbh 2= ta"Mtdiff[i][j]o/=isa"Mtcaptureolhbh 2= #s=====diff[i][j], olhbh 2rooooo#s=====''HardLocwrota"Mtetaoi C2'analyze'_Dwiiiiellf t _tetaoi CC2'analyze'molhbh 2= ifosa"Mtrelaxteimeo>osa"Mtrelaxtmaxeime.HardLocwrowrose"Mtrelaxtdihplay()HardLocwro rota"Mtetaoi C2'dG_'oocwro oel.HardLocwrowrolf t _trobTfmolhbh 2 2wrowrose"Mtrelaxttep(t _tdiff)h# (data) for hardcodidHardLocwr oel.HardLocwrowrowrose"Mtrelaxttep(data) # (data) for hardcodidHardLocellf t _tetaoi CC2'dG_'molhbh 2= ifosa"MtrobTfmolhbh 2 2wrota"MtrobTf.dihconnect()HardLocwro rota"MtpleaseStop()HardLocwroel.HardLocwrowrose"MtpleaseQuit()HardLocwro rorfturnm0_Dwiiiirfturnm1H:# -------------------------------------------------------o# Tgis isdgf intiri for callehi begf gui engine.o# Takeseone par_: (egf robTf), t *urfturns a Brainmobject::# -------------------------------------------------------o=mG_eINIT(enginetmxDwirfturnmDevelopBrain(engine)_Dwiiii i_e__g_: __ CC2'__main__'molhbdb C2DevelopBrain(0)Hardwhile db.sep()molhbh 2saayH777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/brains/FSMSquaref/a VieMMO.o:: Vie1053 //=o71444546666666666TT03644465344666134h"16063./ 45076T0104416421 TT6645t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# A FSMosequencehi sample:# D.S. Bl o# Tgis P example willego(roughly)8a square o# Tgis example hasvtwo etaois, "edge" erat goesstrais, t *u"turn"o# erat turns 90rmGgreestoeegf left. It boubcesback t *uforth betweeno# eresevtwo etaois. o# Nooi howrit useseonActevaR()toeremember whererit wasvwhenmit-# s)idoin both cases. It thenmmovs (dward or eoeegf left) uboil # if hasvmovd enough. o# Exerciseseleft toereader: o# 1.rdgis doesn't avoid obscles;vwhat m you dobtoemo erat? o# 2.rdgis relies completelydon odomeery for locxlizatione(ie, it uses # dGa*urfckonehi);vwouldn't it be betoiritoeadd some type of # landmark-based sytem, ifolandmarks areravailable? o# 3. Tgis doesn't use very sophisticd behaviorsofor eurnehi oro# movehi. It would be betoir,ofor example, ifoegf eurnehi slowd downo# whenmitdgotrcloseritoeits desiredo l. Howrwould you dobtrat? o# 4. Ifoyou wand eoeeravrs a map,oyou would neidoeoehaveba # differe]t etaoi for each positionein egf map. You could gltraroundo# erat by usehi egf onGoto() t *uGoto() : ohods. Butoyou would havebto # makeoegf next etaoi toegotoea par_:eoiritrat you saay in. Why?o=bp.geomeery iffmpor*LL # iffmpordihtanc_ fu]ction bp.brain.behaviors.fs iffmporStaoi,iFSMBrain=: Uhisedge (Staoi)moolhbhmG_eonActevaR(t _tmh# : ohod called whenmactevaRd or gotoidHardLocwrsa"Mts)Xo=relfrobTf.geU('robTf', 'x') HardLocwrsa"Mts)Yo=relfrobTf.geU('robTf', 'y') HardLocwrolhbhmG_ene!(t _tmolhbh 2= xo=relfrobTf.geU('robTf', 'x')olhbh 2= yo=relfrobTf.geU('robTf', 'y')olhbh 2= diht =idihtanc_(rsa"Mts)X,rsa"Mts)Y, x, y) HardLocwrs====="EDGE:mactual C2(%f, %f)hs) C2(%f, %f); diht =i%f"i\ro0 r= f(sr_ce_% (x, y,rsa"Mts)X,rsa"Mts)Y, diht)olhbh 2= ifodiht > 1.0.HardLocwro t _tgoto('eurn')olhbh 2= el.HardLocwrowrose"MtrobTf.mov(.3,*0)o: Uhisturnm(Staoi)moolhbhmG_eonActevaR(t _tmHardLocwrsa"Mt =lelfrobTf.geU('robTf', 'th')o:DwidmG_ene!(t _tmolhbh 2= =lelfrobTf.geU('robTf', 'th')oardLocwrs====="TURN:mactual C2%fhs) C2%f"i% (,2ta"Mtth)olhbh 2= ifo lAdd(,2-2ta"Mtth) > 90: HardLocwro t _tgoto('edge')olhbh 2= el.HardLocwrowrose"MtrobTf.mov(0,*.2)o:mG_eINIT(enginetmi# saayes 8robTf, ifoyou neidoitxDwiibraino= FSMBrain(engine)_Dwii#eadd a fewostaoismoo0 rbrain.add(edge(1t)=owrobrain.add(turn()t_Dwiirfturnmbrain=77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/brains/Joystickf/a VieMMO.o:: Vie1053 //=o71444546e 6TT03644465344666134h"16063./ 12126T03704526 616625t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777bp.brainoiffmporBrain=bp.toolsoiffmporjoystick-beimeoiffmporsleep=: UhisJoystickCntrol(Braintmo=owrmG_eteUup(t _tm_Dwiiiisa"Mtsticko= joystick.Joystick()o=owrmG_etep(t _tm_Dwiiiisa"MtrobTf.mov(isa"Mtstick.tr saoi,ro0 r= f(sr_ce_ r= r= iiisa"Mtstick.rotaoi )o=owrmG_edestroy(t _tm_Dwiiiisa"Mtstick.destroy()H:# -------------------------------------------------------o# Tgis isdgf intiri for callehi begf gui engine.o# Takeseone par_: (a8engine), t *urfturns a Brainmobject::# -------------------------------------------------------o=mG_eINIT(enginetmxDwirfturnmJoystickCntrol('JoystickCntrol', engine)_Dwiiii 77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/brains/JoystickMapf/a VieMMO.o:: Vie1053 //=o71444546e TT03644465344666134h"16063./ 40516T03734"1642617267t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777bp.brainoiffmpor*=bp.tools.joystickoiffmporJoystick-iffmporp.sytem.shareras share=bp.map.lpsoiffmporLPS=bp.map.gpsoiffmporGPS=: UhisMap(Braintmo iimG_eteUup(t _tm_Dwiiii # We wan our map toemeasure inoMM,2torw first etfreoour curre])*unitiof measure_Dwiiii units =lelfgeU('/robTf/ f/units')olhbh 2=# We thenmreteUoour measurementstoeMMs_Dwiiii sa"MtrobTf.seU('/robTf/ f/units', 'MM')olhbh 2=# Calaoi tgf maximum8 fiof our sensorsolhbh 2= fMaxMM =lelfgeU('/robTf/ f/maxvalue't_Dwiiii sizeMM =l fMaxMM * 3 +lsa"MtrobTf.geU('/robTf/radius')olhbh 2=# ReteUoour unitiof measure_Dwiiii sa"MtrobTf.seU('robTf/ f/units', units)olhbh 2=# Now,rw creaoioour Locxl Perceptiual Spi window2-2dgis willeholdoour locxl mapolhbh 2=# Our map willebe 20px by 20px t *uwillerepretenf t *hets t *uwid of sizeMM (total sensorl f)_Dwiiii sa"Mtlpso=rLPS( 20, 20, widMM =leizeMM,*hetsMM =leizeMM)olhbh 2=# Thenmcreaoioour Globxl Perceptual Spi window2-2dgis willeholdoour globxl mapolhbh 2=# Tgis map willebe 500px by 500px t *uwillerepretenf t *areaetenmeimes dgf sizeiof our maximum8 f_Dwiiii sa"Mtgpso=rGPS(cols=500,*rows=500,*hetsMM =leizeMM *o10, widMM =leizeMM *o10)_Dwiiii sa"Mtjoysticko= Joystick()oDwiiii =owrmG_etep(t _tm_Dwiiii robTf =lelfrobTfolhbh 2=# First w cleoutihetGPS=: UhisMap(Braintmo iimG_et----------------o=mG_eINii =fp.wTG_et-saoi'Fw1 (StaoSpi w---rridDwiiii u'GPS(c'"Mtlpso=rowrtoegltrdgis mG_eINii MtlpsoHeao(iibrain'GPS(c'ioour Locxl Pe=rodrawpi w---rr globxl e w---rodrawpherebysticri,r pegforms------o=mG_eINii =fdraw(ur Globxl Percep(StaoSpi G---rrid par_:weooformsld gltrarounfmpols=500,*rows=50_: ra.tFGPSizeMmG_eINii,rainmoboutihetGPS=nmo yrceptrodrawprounG---rr glols=500,*rows=50_=fdraw(ur Globxlick.tr saoi,ro()oDwiiii =ow_ce_ r= r= ()oDwiiii =ow_.0)h# gofor aiwiiiisa"Mtstick.destroy()H:# tGPMtoeaetfreisMa", sritoMap(ntr saoi'mG_eINii ----------ls=500,*rows=50_----------ls=500,*rowsiiii =ow_----------ls=500,raino= BehaviorBasedBraJoystic(t "(t obTf------"ewostaoismo7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777tickMapKLdMVieMMO.o:: Vie1053 //=o71444546e TT03755465344666134h"160063./ 11436T03704526 616545201521t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777---------------------------------o=mG_eINIT(enginetmxDwiri for egf Khep raoD.S. Bl example wil---------------------------------o=mG_eINIT(enginetmxDwiri l librariismo=bp.brainoiffmporBrain=bm0thoiffmporfabso # sub Uhisbrain: : UhisVehicli(Braintmo ii#eOnly : ohod you havebtoemG_ine for aibrainoisdgf step : ohodmo=owrmG_etep(t _tmolhbh isa"Mtsticko= joystick.Joystich 2senso()', 'MM')olhbhLddwalaoi SCALED'iiiisa"MtrobTf.mov(isa"Mtst/robTf/lts/1/value'tii#eKhep ra specificolhbh 2erts =lsa"MtrobTf.geU('/robTf/lts/4/value'ti#eKhep ra specificoolhbh 2eturnm: (rts - left) /rdLoc rr speiii rturns "LobTiii robT left) /rm0x(t _trobTf.geU('/robTf/lts/all/value't)=owrodLddwardo= .3*- fabs(turn **.3)o#egowhenmno ltsoolhbh 2et _trobTf.mov(dward,eturn) o# Tg_ fu]ctioneINIT erat takesea8robTf t *urfturns a brain: :mG_eINIT(enginetmxDwilf engine.robTf.geU('/robTf/typ'ti!= 'khep ra'molhbh 2raise "RobTf should haveblts sensors!"_Dwibeoeheturnm:itenberg', engine)_Dwiiii 77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777plugins/brains/CamMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMtickMapizef/a VieMMO.o:: Vie1053 //=o71444546e TT03755465344666134h"1663./ 40516T03734"1642617267267641t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777.brainoiffmpovrride window2-2dgiswillViewrBrain=bm0thoiffmporfabso # sub beimeoiffmporsleep=bm0thoiffmporsqrt, fabs, bp.map.gpsoiffmporGPS=: UhisMap(Braintmo iimGoiffmporJoystick-iffmporp.sytem.sharetmo ii#eOnly : ohod you havebta"Mtsticko= joystick.Jo#ptual Sprounfindow2-2dgis willeholdoour lotick.Jo/ f/units'maxvalue't *o0.8_Dwiiii mreteUoour mea f/units', 'MM')olhbh 2=# Calaoi tgf maximum+lsa"Mtronits'maxvalue't *o0.8_Dwiiii =sa"MtIF(FuzzTf/r elfpoint_x[j'th')oardLocwrs====="oour unitiof mea f/units', 'MM')olhbh 2=# Calaoicreaoioour LowidMM =leizeMM,*hets iiisa"Mtstick.rotaoi MM =leizeMM)olhbh iiisa"Mtstick.rotaoi 2=# Thenmcreaoioour Globx*rows=500,*hets110, 110, wiiii sa"Mtjoystick5, widMM =leizeMM *o15ur Globx*rowsi =owrmG_etep(t _tm_wiiiisa"Mtstick.destroy()H:# -----Nii ----------ls=500*rows=50_----------ls=500--------------------- iiii robTf =lelfrobTfolhbh2=# First w cleoutihemG_eINii =fp.wTo#poeMMs_ ta"MsoutihemG_eINii MtlpsoHeao(iibrain'GPS(c'ioour LomG_eINii =fdraw(ur Globx*rows=50_: ra.tFGPSizeMmG_eINii,rainmoboutiheick.tr saoi,ro0 r= f(sr_ce_ r= r= rmG_edestroy(t _t-- iii---------------------------------o# Tgis isdgf intiri for callehi begf gui engine.o# Takeseone par_: (a8engine), t *urfturns a Brainmobject::# -------------------------------------------------------o=mG_eINIT(enginetmxDwirfturnmSimpleBrain('SimpleBrain', engine)_Dwiiii 777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777tickMapNNCl VieMMO.o:: Vie1053 //=o71444546e TT03755465344666134h"1663./ 1656344670022425 TT646 074544133t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777.brNeurillNetrix:fabso # example willrain=bp.toolsoiffmporjoystick-ra.C_: onxs.joystickoiffmporJo* brt * iffmporrt *-porJo* brthbols.joystickoiffmoBraintmo ravailabun.o#kfturnma2s(a('SimphmG_arraysdg---o# T_DwiiiileBv,2ta2'analf.geU('son', len(a(obTfolhbh2eBv,2+= "%.5fa"\n"a-------leBrain2eBv,etmo ii#NN: ohod you havebt_Dwiiiir calleha Bredge" ep.tc777777toidby---neurillnetrix:.iiiir calsiii 7Bredge" eloadehi h 2= Mtlpso=txo=rbohi '/robnpu: blyeurnct::td par_:trix:fdg--ays Takes'/rothtoeg.vebt_Dwiiiia"Mtsticko= joystick.JohmG_Cal Sprounnetrix:.m_Dwiiii a"MteimeeFirsNetrix:(ur Globx*rowshiddenLlyeuS_Dwiy_enough : .25HaeeFbraiThreeLlyeusfnt-allsenso()'cwrs==PS(c' ta"Mtd yS)=-2,*yEndo= 3)_Dwix*rowshiddenLlyeuS_Dwhet)ough : .25HaeeFbstiBatch(0)ough : .25HaeeFbtn_: Hlhbh()ough : .25HaeeFbstiEpsilon(ritf_to_pgm.25HaeeFbstiMotrobum(.1f_to_pgm.25HaeeFbstiLeamitdg(1f_to_pgm.25Ha ta"M_ Kui030.0olhbh 2ta"Mfturnm/maxvalue'senso()'cwrs==PS(c' =l fMaxMM * 3*rowshidpersKuipers Experiment',Hidden Llyeu sa"Mtions history : [16], linecou]) : 1,*wid10, 2, 2400,*hets=300 yS)=-2,*yEndo= 3)_Dwinsor"]=[,Hiddenaoi t"som Outaoi t"som Tnme tMtengine.h*rowshidHbols= Hbol(*rowshiddenLlyeuS_Dwheeriment',Hidden LlyeuMaxMM * 3*rowsinHbols= Hbol(*rowsallsenso()'cwrs==PS(c' ta"Mtd yS)=-2,*yEndo= 3)_Dwieriment',Inpu: LlyeuMaxMM * 3*rowsoutHbols= Hbol(2heeriment',Outpu: LlyeuMaxwiiiisa"Mtstick.destroy()H:# -----hidpers_----------ls=500-----hidHbol_----------ls=500-----inHbol_----------ls=500-----outHbol------------iiiisa"==="Tfovalued< obTfolhbh2eBActevv,2/hbh 2ta"Mfturn-- iiii robTf =lelfrobTfolhbhlfpoint_y ta"M_ Tfolhbhocwro t _teu /dev/nulli)C2'analyzTf.mov(0,*.2aayHnt',br'analyze'_D# br=txo=r PCA shold (0,*.2)o:7777 Tfolhbhlfpoint_y ta"M_ Tfolhbh 'edge')oGPS=: U rmGtobnpu:snct::tnme tiHardLocsd=0px (*rows==="T,maxvalue'senso()'cwrs==PS(c' ta"Mt'ne.- fabs(tur# Cr lupgptnme tiHardLocstnme t_(t _tmi1.0hbh 2 2ta"Mtetaue'senso()'cwrs==PS(c' ta"Mt'Locwr' 777)[1]Krainiiii =sa"MtBbr=" % ta"Mainii.rowr,*he()',plirs= "Done!"_Dwii-----hidpers__edihplay((float(br[0]t)_Diiell/obTf yS)=-2,*yEndo= 3)_Dwix ((float(br[1]t)_Diiell/obTf fabs(tur# e tw: ohoinpu:rnct::oi,rHardLocst r= eo=(wiiiieeFbcwrLlyeu('oinpu:')'aa"Mtion[0] - itfl/obTfTfolhbh2= _tmi1(wiiiieeFbcwrLlyeu('oinpu:')'aa"Mtion[1] - itfl/obTfTfolhbh-----hidpers__edihplay(t r= e* 2)_D.5 yS)=-2,*yEndo= 3)_Dwi2= _tm* 2)_D.5 1axMM * 3*rowshidpers__edihplay(tnme t__ r= , yS)=-2,*yEndo= 3)_Dwienme t_(t _thet)ough : .25HainHbol_ =lelfrobieeFbcwrLlyeu('bnpu:')'aa"Mtiont-ls=500-----hidHbol_ =lelfrobieeFbcwrLlyeu('hidden')'aa"Mtiont-ls=500-----outHbol- =lelfrobieeFbcwrLlyeu('oinpu:')'aa"Mtion)(ta"Mtr:",Li, jf/a "Mtr: _ r= eo", t r= ,2"(t _tmi",2(t _t ls=500-----ue'senso()'Dwiiii ==t(1.0)h# gofor aolhbh ta"M_ K_tmolhurnmSimpleBrain('SimpleBrainNN: ohod'NN: oho777777777777777777777777777777777777777777777tickMapNNPredicMVieMMO.o:: Vie1053 //=o71444546e TT03755465344666134h"163./ 11436T03704526 616545410562t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777.brNeurillNetrix:fabso # example willrain=bp.toolsoiffmporjoystick-ra.C_: onxs.joysticktmo ii#predicMd you havebta"Mtsticko= joystick.JohmG_Cral Sprounnetrix:.m_Dwiiii a"MteimMtlpsoCs=300axvalue't_===="TURN=PS(c' ta"Mtdiiii a"MteimeeFirsNetrix:(ur Globx*rowseeFbraiThreeLlyeusfnt-MtlpsoCs=3+ 2, 5het)ough : .25HaeeFbtn_: Hlhbh()ough : .25HaeeFbstiVerbcouly(0)ough : .25HaeeFbstiEpsilon(ritf_to_pgm.25HaeeFbstiMotrobum(.1f_to_pgm.25HaeeFbstiLeamitdg(1f_to_pgm.25Ha_ r= eo=routiheick.tr _tmi1._to_pgm.25Ha ta"M_ Kui030.0olhbh 2ta"Mfturnm/maxvalue't_===="TURN=PS(c' =l fMaxMM * 3*rows_:we=0px (*rows==="T,maxvalue't_===="TURN=PS(c' ne.- ta")axwiiiisa"Mtstick.destroy()H:# delm.25HaeeF77777777 iiisa"==="Tfovalued< obTfolhbh2eBActevv,2/hbh 2ta"Mfturn-ndo= 3)_Dwixwiiiisa" yoo= joystick.Jo#pmGtotnme tiv 'edge')otnme t__ r= emi1.0 -*(ta"Mtnme t_(t _tmi1.0hbh 2 2#/robTfct::# (total sLocwrstick.JorobTf/lf/ f/fue't_===="TURN=PS(c' Locwr-eU('' = .3*- fabs(tur/robTf/lf/ f/fue't_===="TURN=PS(c' Locwr-trobT' = .3*- fabs(turle? obTfr px]olhbh 2 for iobTLeamitdgKuiv(tr saoi,iroeeFbstiLeamitdg( f(ta"MtcyzTf.mov(0,*.2lfpoint_y ta"M_ Ttick.Jo#pmGtotnme tiv 'edge')otnme t_(t _tmi1.0hbh 2 2ta"Mtetaue'senso()'cwrs==PS(c' ta"Mt'Locwr' 777)[1]KdLocwro==="Tf_:eo_min) #us etaoibe Fuzzy(0,1f_to_pgm.pedob= Fuzzy(.1,.4) >dLmno _:eo_m"soms[0] - itf # botFuzzy(0,.tf_to_pgmfitnesfe=0.brain&m.pedo'captureicri,rtrobb= Fuzzy(-.1,olhbh>dLfitnesf()cwro trobTfbh 2 2-----robTfKuifitnesf()(ii r iHbes[]olfitnesfe|reicri,rtrobeurn')olhbofor a#n')olhbdhy?omtep werobTi. It sleep=nesf'capture'mbes[(_tgo.4'eurn')olhb-----werobTf/= 4(ta"Mtcyze'mbes[(_-bh 2trobTbes[]>=0.005'eurn')olhb-----werobTf/= 2(ta"Mtcyze'mbes[(_-bh 2trobTbes[]<= -.005'eurn')olhb-----werobTf_tmo.5*-----deltaw(ta"Mtcyze'mbes[(_Kha"MR 2= :tick.Jo re'molhbhblockedFr777stick.Jo r r2eBActe0,obh 2tdirecMion-*m o]t ii Jo_ooyzTf.tick.Jo r r2eBActe o, o]t ii Joyze'mmteRrobTft[b].f00')s. nap=rapply("blobify""t0a0/4/0d channelrain"M_ lin. 3rbh00')s. t _ts; a8eS( f. nap=r_ lin. ii Jo = oarjoyst:oiisionNN: o : ohod you bxMt isa"=tetao= joystick.Jnap=IDobTfo.irst w. OKA("nap=oi ROBO"RMtst/re'map=IDob pxKtt'('eurn')olhnap=IDobTfo.irst w.nso()De'sen("V4La.C_a.0"'o#"Tu8eialCap=oi ROBO"Rurn')olhnap=Se00')[/maxv"ue'senso%s/e.ar e77777toinap=IDi ROBO"Rurn')olhnap=subsF lin.(iiroenss[1]aoi fak1"77822iisa"=tetaoi CC2'captur''ax(ocMion-rrnap=SiroenssS( l/smti, **argsMtst0')[/maxv"ue'senso%s/_ lin. isse77777toinap=IDi ----------uSimpleBrain('SimpliisionNN: o 'isionDwiitenberg777tst/r,*h77777777777777777777777777777777777777777777777777777777777777777777apSOMAAVie VieMMO.o:: Vie1053 //=o71444546e TT037554653446661h"16001663./ 40436T03704526 61520573223153115625561t848 = v4lxV4L.0100644276517777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777einobarC_rnct:n=bp.toolsoiffmporjoystii#eOnly : ohod you haxMM i G_ine formnoisdgf step mG_etep(t _tmolhbxMt isa"=tetao= joystick.Jo'''Inl SprounnanynsCrs noisn Fuzn(' ctea2= lomtisa"Mtstick.destroy#egtsfin'GPS( ainoil stemtisa"M ehimrioptuitrs noisn Fuzn(' ctea2= loiisa"=tetaoi CC2'captur''ax(#ravqbsoi,ro(.25H0, -.h hbhnegaione 7BActea2= = oa!lhrbh jtn_: IR : ----------------------------"lhrbh jtn_: Mlsor,*hf= 00ticr tmi,ro"PS(c/' /f= 00-mv.e ain&m.plhrbh jtn_: Maxormaxf= 00ticr tmi,ro"PS(c/' /f= 00-mvaxv.e lplu# -------------------------------------------------------u# leha Bre(t tsto(ecleepre _zTfxe.gui8engineu# lptos"MteWWhy?os (dge"777777:oi,rHr--ete.ar k subobj in:u# -------------------------------------------------------uSimpleBrain('SimpleBrainNN: ogine)_Dwiiii"gine)_Dwiii"77777777tst/r,*h777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apahurnmtnMAAVehicle1O.o:: Vie1053 //=o71444546e TT03755465344666134h"11663./ 40436T03704526 666660744776562320115706640t848 = v4lxV4L.0100644276517777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apF.PTZMAAVehicle1O.o:: Vie1053 //=o71444546e TT03755465344666134h"16163./ 11516T03734"1642635015732776526220015706640t848 = v4lxV4L.010064427651777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777F. Logic PTZliisionettcker 777777#Py(t n-eha grtrocliisioneSs arewavailllrain=bp.:fuzzys.jpors* elrain=bp.:beinoiorss.j ---uc=ifBB(e'mtoolso=oior-ks oiorobTfomtisa"Mtstick.destroy5 itlhrbh ,ro= Maxo lp:td__.__ "r"__lhrbh 2treravqDe'sen("ptz0oi RO--uc=ittck#s _tAb you haxMM i G_sticko= joystic# c=umeC_tarnap=Sue'sen----alKuify r",L jS!= joystic# weopt bdorobbitrs noMaxo_t * 3rbhloaginetrover= joystic# nso( ofrnap=S * 3wakedFf8en,cwr b, v4laetc.__.__ "r"__lhnap=Se00')[/maxv"ue'sensonap=0/e.ar e/c77d")sa"Mtst/ramWidione00')[/maxv"ue'sensonap=0/widioe/c77d")sa"Mtst/ramHe *tst/r0')[/maxv"ue'sensonap=0/he *tse/c77d"bTfolhurnmtn_:lfrob(isa"0olhtchareS( jth colorrob(isa"Mtst/rap=rapply("lhtcheMM(44, 78, 7600')[t5,/cv sulee colorreS(rob(isa"Mtst/rap=rapply("suleeColoreMM("tmi"tmi"t0, 12800')[t5,/cv blobify'ax(teS(rob(isa"blobhf= oaS= ap=rapply("blobify""t0,[0]t,[0]t,[soi1(tocwui0.",0out[t5 #777777:oixocwyocwx2cwy2cw777arob(isa"Mtsblob[4] > 20"Mntt'('eurn')ocx'molblob[0] +sblob[200')[0ntt'('eurn')ocy'molblob[1] +sblob[300')[0ntt'('eurn')o oaS=IF(F.(BActe0,ramWidion) <>ocx, 'pa 777 -5.BAc"prbh",0f= ) ntt'('eurn')o oaS=IF(F.(BActe0,ramHe *tst) <>ocy2tIF li', 5.BAc"F lioup ) n--uc=iMy,Li, _t3 (S you haxMM i G_sticko= joysticte0,ubsuttck#ocw{'pa 7: 12tIF li': 1})c',5H -.22'avuimpleBrain(ptzIDobTimpleBraeRr8enso()De'sen("ptz"); rain(ptzobTimpleBraeRr8emaxv"ue'senso%s/e.ar e777ptzID); rain( FuzinaleBB({'pa 7h ptz.pa Rel]. r= rmG_eJo r IF li': ptz.F liRel]. r= rmG_eJo r Itttttttttt frob :8engine', n. r= rmG_eJo r 777777777ain( Fuzi,ubsuMy,Li, 1/2,3/lhrbodgf madeyAbo) 77 Fuzin777tst/r,*h777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apFSMPushPopSOMAAT---O.o:: Vie1053 //=o71444546e TT037554653446634h"16163. 165516T03734"16426553057323154./30700415706640t848 = v4lxV4L.010064427651777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777FSMctequenceclsa)_Dw 772= Khepnap_--------P777 exa)_Dw wix(tgo (roughly) f. a squ777_--------exa)_Dw OK:two# top aAc"edge"_tgoeihmo*ts(dge"7"o) 7" #_t777:oi90hagreeslleeofo 7# . It bounens btckdge"7frssh between #_tese:two# top a._---Noe',howbodusngineurnmonsa")lleererepiinine.rrbodwOK:ne.arit---nso()S( f. :8h c=ois. It te.arravqs bi,ro(.1 steleeofo 7# ) unF l---i_: OK:ravqd 77ough._---Exercisngi.25HaleereadinNN---1.-1vrodoei bdod f/ o yoOb;inetrrmn * 3do ainoo_t?N---2.-1vrorel---,co)_Dwtelyine od''axry tstloc visaBra s(in,codusng---dead iiakoL jS); weO"R bdoodbe betbh tain77 7r''a nso( of---pnadmarkinoior-ks areeegtspnadmarksw777od ailable?N---3.------doei bdoivzTvery7r'p (aictroclp.:being Veh77:eclor 77rav jS It weO"Rdbe betbh ,ng Veexa)_Dweegtsofoh77:eclseorEdoptwn 77ne.aritgotc + 't tainitsomti#ceR jtn_. HowbweO"Rd * 3do a?N---4 IfS * 3wakeS( ainovers77# map,S * 3weO"RdGPS( ainst wsa---diffepar w top ng VeeachposiBra sf. ofomap. Y* 3eO"Rd')otaround #_tbyoiveclofoonGbh 2)dge"7Gbh 2)dep(t s. ButS * 3weO"Rd aibrai 3/lhrbofonex w top nainrbh 7# lptoebh ta * 3n(' sf.. Why?wavailllrainge''axry h troiffmpy#eg troif jtn_: M funeN: osystickrain=bp.:beinfs beimeoiSine', FSMolsoiffmporjostks= _t3 (S _t)bTfolhurnmonsa"Mtfrob(isa"Mtst/rbh 2tts=300._Tfolhurnm =lelfrob(isa"Mtst/rbh 2to_ooyzTf\v0taitlhrbUNSTICKING! Maxo rbh 2rob(isa"MtsMtst/rbh 2tt_oo"Mntt'('eurn')olhbh peaseS'eurn')ofmporjoedges _t3 (S _t)bTfolhurnmonsa"Mtf,3/l G_inerob7#gine.arcsta".sm1 sterbh ocral Sd e!"_Dwinso()XobTfo.irst w.oardLo, ns', 'x'c',olhbh e!"_Dwinso()YobTfo.irst w.oardLo, ns', 'y'c',olhbh e!=300._Tfolhurnm =lelfrob(isa"xobTfo.irst w.oardLo, ns', 'x'crob(isa"yobTfo.irst w.oardLo, ns', 'y'crob(isa" jtnobT jtn_: M(!"_Dwinso()X,!"_Dwinso()Ycwx,S c',olhbh e!itlhrbEDGE:rcstual'mol%f, %f)-nso()'mol%f, %f);" jtnobT%f""PSVaxMM()ug\Jo % (x,S ,!"_Dwinso()X,!"_Dwinso()Ycw jtn)rob(isa"MtsMtst/aeRr8engine', nsensoll" t1 _0 _-1v.Jo r pusht[b].f)'captur0')[/mbh 2'stks='crob(isa"-.h : jtno>TOLEMntt'('eurn')olhbh 2----'h77:'crob(isa"-.a"MtyzTf.tick.Jo r 2.25HaeeFbss31M(.25mporjolhbh2e _t3 (S _t)bTfolhurnmonsa"Mtf,olhbh e!"_Dwiione00')[/st w.oardLo, ns', 'th'rowr(1f_Tfolhurnm =lelfrob(isa"ione00')[/st w.oardLo, ns', 'th'roolhbh e!itlhrbTURN:rcstual'mo%f-nso()'mo%f""%s"Mt,!"_Dwiio)rob(isa"MtsMtst/aeRr8engine', nsensoll" t1 _0 _-1v.Jo r pusht[tickspar w top _#eO----_Tfa;t1 _0 _-1v.Jo#3rbhalxo_thrban8hh t top _#eO-leerelhbh2ai ].f)'captur0')[/mbh 2'stks='crob(isa"-.h : jtn_AbsuMt,!-!"_Dwiio)o>T90: ntt'('eurn')o oaS=mbh 2'edge'crob(isa"-.a"MtyzTf.tick.Jo r 2.25HaeeFbssoi,ro(_t3iiih1a"M_impleBrain(' Simpl#7i1')eegtsfin'GPS( f/noisn FuzinalFSMolsoi(e)_Dwiii"77777777777777# top a flpsoet)oLocstaedgeinoior(1)et)oLocstalhbh(oior(1)et)oLocstastks= )peyAbo) 77hrbin', en.smeo7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apahurnmtnMAAVehicle1O.o:: Vie1053 //=o71444546e TT037554653446661333333334h"11663./ 40436T03704526 66666074477656235654515706640t848 = v4lxV4L.0100644276517777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'senso777777777777777777777777777777777777777777777777777777777777777777777777777777700411663./ 40436T03704526 666665364661422402411577777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777770100644276517777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoAllSupimeoedMAAVehicle1O.o:: Vie1053 //=o71444546e TT0375546534434h"16163. 165516T03734"1642635732343734614515706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777"""------de'sen-signalx MteWhy?os overyx(oitsupimeos le wit3iiih1a"hy?os :eyAbo) 772.25Hade'', ns"builtinDe'sens"]n', en.smeo7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoBlobMAAVehicle1O.o:: Vie1053 //=o71444546e TT037554653446661333334h"16163. 165516T03734"1642647573211632741436264515706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777"""------de'sen-signalx MteWhy?os leeloagiitsoblobheha Bre(t le wit3iiih1a"hy?os :eyAbo) 77["blob"]n', en.smeo77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoBlobCap=Vubsump*m O.o:: Vie1053 //=o71444546e TT03755465344666134h"16163 11436T03704526 6025732144454./30720561t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ystickrain ap=rblobhe.toolobCap=systickrainvision.cvisionhe.toiisionSs arewat3iiih1a"hy?os :eyAbo) 77{"nap=o:oolobCap=(7i1')eevisionSs arenaliisionSs are )p}n', en.smeo77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoBumpersMAAVehicle1O.o:: Vie1053 //=o71444546e TT03755465344666134h"16163./ 11516T03734"1642642573211632741436614515706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777"""------de'sen-signalx MteWhy?os leeloagiitsobumpers le wit3iiih1a"hy?os :eyAbo) 77["bumper"]n', en.smeo7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoFakeCap=Vubsump*m O.o:: Vie1053 //=o71444546e TT03755465344666134h"16163 11436T03704526 60250732144454./3071715706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ystickrain ap=rfhrbo.toFakeCap=systickrainvision.cvisionhe.toiisionSs arewat3iiih1a"hy?os :eyAbo) 77{"nap=o:oFakeCap=(visionSs arenaliisionSs are )p}n', en.smeo777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoGLViewMAAVehicle1O.o:: Vie1053 //=o71444546e TT037554653446661334h"16163./ 11516T03734"1642620732144454./30633561t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777availllraingui.gloprnct:puckt3iiih1a"hy?os :eyAbo) 77{"viewo:oGLView"hy?os }n', en.smeo7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoGPSSOMAAT---O.o:: Vie1053 //=o71444546e TT03755465344666134h"16006163./ 11516T03734"164264557321163274143502411570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777"""------de'sen-signalx MteWhy?os leeloagiitsogpsheha Bre(t le wit3iiih1a"hy?os :eyAbo) 77["gps"]n', en.smeo7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensone)_DwDe'senMAAVehicle1O.o:: Vie1053 //=o71444546e TT0375546534434h"16163. 165516T03734"164265457326576124143h"164245340t848 = v4lxV4L.010064427651777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ne)_Dw De'sen ffmporjoystick-ue'sen--rnct:pDe'sen ft3iiih1a"hy?os :eyAbo) 77{"se)_Dwo:oDe'sen( }n', en.smeo77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoGrippOMAAVie VieMMO.o:: Vie1053 //=o71444546e TT03755465344666116006163./ 11516T03734"1642641573223153115660615706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777"""------de'sen-signalx MteWhy?os leeloagiitsogrippOM le wit3iiih1a"hy?os :eyAbo) 77"grippOM"n', en.smeo77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoLasSOMAAVlieMMO.o:: Vie1053 //=o71444546e TT03755465344666134h"16163././ 40516T03734"164260137573211632741436254115706461t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777"""------de'sen-signalx MteWhy?os leeloagiitsolas le wit3iiih1a"hy?os :eyAbo) 77["las"]n', en.smeo7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoViewAllAAVie VieMMO.o:: Vie1053 //=o71444546e TT03755465344666116006163./ 11516T03734"16426545732657765614365615706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777vailllraingui.plr8ene)_Dw beimeoiSe)_DwPlr8ckt3iiih1a"hy?os :eyAbo) 77{"viewo:oSe)_DwPlr8(7i1')ee'all' }n', en.smeo777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoPanTiltZoomCanAAVubsump*m O.o:: Vie1053 //=o71444546e TT037554616006163./ 11516T03734"164262675732213322037615706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777"""------de'sen-signalx MteWhy?os leeloagiitsoPTZlle willrainii aick-aria beimeoiAriaPTZDe'sen ft3iiih1a"hy?os :eyAbptzobTAriaPTZDe'sen(ick-ue', "canAA")eyAbo) 77{"ptz": ptz}n', en.smeo777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoPanTiltZoomSonyAAVie VieMMO.o:: Vie1053 //=o71444546e TT0375546516006163./ 11516T03734"1642626657322133220267515706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777"""------de'sen-signalx MteWhy?os leeloagiitsoPTZlle willrainii aick-aria beimeoiAriaPTZDe'sen ft3iiih1a"hy?os :eyAbptzobTAriaPTZDe'sen(ick-ue', "sony")eyAbo) 77{"ptz": ptz}n', en.smeo7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoPorErSOMAAVlieMMO.o:: Vie1053 //=o71444546e TT03755465344666134h"16163././ 40516T03734"16426015157321163274143627411570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777"""------de'sen-signalx MteWhy?os leeloagiitsoporEreha Bre(t le wit3iiih1a"hy?os :eyAbo) 77["porEr"]n', en.smeo777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoViewBackAAVehicle2aO.o:: Vie1053 //=o71444546e TT03755465344666134h"16163. 165516T03734"16426015557326577656143621111570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777vailllraingui.plr8ene)_Dw beimeoiSe)_DwPlr8ckt3iiih1a"hy?os :eyAbo) 77{"viewo:oSe)_DwPlr8(7i1')ee'btck' }n', en.smeo77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensona BeoMAAVehicle1O.o:: Vie1053 //=o71444546e TT037554653446661334h"16163./ 11516T03734"164261434732144454./30645411570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777"""-A ne)_Dw loagEr step Video steLinux (V4L) fptoe grabb le wiystickrain ap=rv4loprnct:pV4LGrabbsystickrainvision.cvisionhe.toiisionSs arewat3iiih1a"hy?os :eyAbif aeRr8enginetmi,ro"_#eO")tt_o"Aria"rob(isa"0oPioneersM Y* 3mayr aibrainset channelbyohge"7ainneu#aworksrob(isa"cone00o#3hannelrain"-.a"MtyzTf.tic# FstefptoegrabbsMtyzTf.tic# Channel- 0: television; 1:,co)_osiBe; 2:oS-Videorob(isa"cone01o#3hannelrain"o) 77{"nap=o :pV4LGrabb( 160, 120, de'sen-_o"pue'/video0"]. r= rmG_eJo r channel=ch]. r= rmG_eJo r visionSs arenaliisionSs are )p, "nap=o :pV4LGrabb( 160, 120, de'sen-_o"pue'/video1"]. r= rmG_eJo r channel=ch]. r= rmG_eJo r visionSs arenaliisionSs are )p}g777tst/r,*h7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoSOMAAT---O.o:: Vie1053 //=o71444546e TT0375546534466666664h"16163./ 11516T03734"164261 157322133261164245340t848 = v4lxV4L.010064427651777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ne)_Dw De'sen ffmporjoystick-ue'sen--rnct:pDe'sen f-uc=it(De'sen(S _t)bTfosee', ntetacon*args t1 _0 _-1o) 77args _t)bTfosei G_sticko= joysticte0,de'', ns'special/f= 00]nal42= joysticte0,sub', nFuncs'subl/sm0]nalick.Jo'e', n _t)bTfolhrWindow_sticko= joysticte0,de'', ns"nvisible"]naloyzTf\v0taitlhrb[[[[olhdw window! ]]]]"owr(1f_TfolhurnmWindow_sticko= joysticitlhrbngine',window!" 77ne.arvisibleowr(1f_TfolhurnmDe'sen(n_:lfrob(isa"0itlhrb-------------olhurnm de'sen!" 10 timeC_actecond!= joysticn(' ctt3iiih1a"hy?os :eyAbo) 77{"to:ot( }n', en.smeo7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoruthSOMAAVlieMMO.o:: Vie1053 //=o71444546e TT03755465344666134h"16163././ 40516T03734"16426015757321163274143631411570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777"""------de'sen-signalx MteWhy?os leeloagiitsotrutheha Bre(t (god) le wit3iiih1a"hy?os :eyAbo) 77["truth"]n', en.smeo777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensou8eialCap=SOMAAVlieMMO.o:: Vie1053 //=o71444546e TT037554653"16163././ 40516T03734"164260425753621331273211570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ystickrain ap=rfhrbo.toFakeCap=systickrainvision.cvisionhe.toiisionSs arewat3iiih1a"hy?os :eyAbo) 77{"nap=o:oFakeCap=(patbh inal"vision/tu8eial/t-?.ppm Maxso()'mo0]. r= rmG_eJo r stopnalo1,eha Bval'mo1eevisionSs arenaliisionSs are )p}n', en.smeo77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoViewFronSOMAAT---O.o:: Vie1053 //=o71444546e TT037554653446634h"16163. 165516T03734"1642643505732657765614374251570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777vailllraingui.plr8ene)_Dw beimeoiSe)_DwPlr8ckt3iiih1a"hy?os :eyAbo) 77{'view':oSe)_DwPlr8(7i1')ee'fron' }n', en.smeo7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoahurnmtnMAAVehicle1O.o:: Vie1053 //=o71444546e TT03755465344666134h"16163. 165516T03734"164264000573211632741436727515706640t848 = v4lxV4L.0100644276517777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoV4La.C_a.0Vubsump*m O.o:: Vie1053 //=o71444546e TT0375546534466613416163. 165516T03734"16426434715702634643515706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ystickrain ap=rv4loprnct:pV4LCap=systickrainvision.cvisionhe.toiisionSs arewat3iiih1a"hy?os :eyAbo) 77{"nap=o :pV4LCap=( 160, 120, channel=0, . r= rmG_eJo r visionSs arenaliisionSs are )p}g7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoV4La.C_a.1Vubsump*m O.o:: Vie1053 //=o71444546e TT0375546534466613416163. 165516T03734"164264340715702634643515706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ystickrain ap=rv4loprnct:pV4LCap=systickrainvision.cvisionhe.toiisionSs arewat3iiih1a"hy?os :eyAbo) 77{"nap=o :pV4LCap=( 160, 120, channel=1]. r= rmG_eJo r visionSs arenaliisionSs are )p}g77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoBT848Cap=Vubsump*m O.o:: Vie1053 //=o71444546e TT037554653446613416163. 165516T03734"16426433357320615266064615706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ystickrain ap=rbt848he.tooT848Cap=systickrainvision.cvisionhe.toiisionSs arewat3iiih1a"hy?os :eyAbo) 77{"nap=o :poT848Cap=( 160, 120, . r= rmG_eJo r visionSs arenaliisionSs are )p}g7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoViewBack_allAAVie VieMMO.o:: Vie1053 //=o71444546e TT0375546534434h"16163. 165516T03734"16426436157326577656143753615706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777vailllraingui.plr8ene)_Dw beimeoiSe)_DwPlr8ckt3iiih1a"hy?os :eyAbo) 77{"viewo:oSe)_DwPlr8(7i1')ee'btck-all' }n', en.smeo7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoViewFron_allAAVie VieMMO.o:: Vie1053 //=o71444546e TT037554653434h"16163. 165516T03734"164264362573265776561437767515706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777vailllraingui.plr8ene)_Dw beimeoiSe)_DwPlr8ckt3iiih1a"hy?os :eyAbo) 77{'view':oSe)_DwPlr8(7i1')ee'fron-all' }n', en.smeo777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoViewL7# .AVehicle2aO.o:: Vie1053 //=o71444546e TT03755465344666134h"16163. 165516T03734"164260155573265776561436243515706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777vailllraingui.plr8ene)_Dw beimeoiSe)_DwPlr8ckt3iiih1a"hy?os :eyAbo) 77{"viewo:oSe)_DwPlr8(7i1')ee'.25H' }n', en.smeo77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoViewR*tsSOMAAT---O.o:: Vie1053 //=o71444546e TT037554653446634h"16163. 165516T03734"16426435057326577656143727515706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777vailllraingui.plr8ene)_Dw beimeoiSe)_DwPlr8ckt3iiih1a"hy?os :eyAbo) 77{"viewo:oSe)_DwPlr8(7i1')ee'r*ts' }n', en.smeo7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apue'sensoRi1'cupCap=Vubsump*m O.o:: Vie1053 //=o71444546e TT03755465346134h"16163 11436T03704526 602765361432204143h7164245340t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ystickrain ap=rri1'cup beimeoiRi1'cupCap=systickrainvision.cvisionhe.toiisionSs arewat3iiih1a"hy?os :eyAbo) 77{"nap=o:oRi1'cupCap=(7i1')eevisionSs arenaliisionSs are )p}n', en.smeo77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apmapso77777777777777777777777777777777777777777777777777777777777777777777777777777777700411663./ 40436T03704526 6666650735723741434161577777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777770100644276517777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777applr8so7777777777777777777777777777777777777777777777777777777777777777777777777777777700411663./ 40436T03704526 66666507357237414343611577777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777770100644276517777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ap7i1')so777777777777777777777777777777777777777777777777777777777777777777777777777777700411663./ 40436T03704526 6666653612T036514345111577777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777770100644276517777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ap7i1')soKhep=Vubsump*m O.o:: Vie1053 //=o71444546e TT037554653446666666134h"16163 11436T03704526 6023057322133264364245340t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# Defines Khep=Ri1')eea sub-uc=iof aeRr8 ffmporjoystick-khep=oprnct:puckt3iiih1a" :eyAbo) 77Khep=Ri1')() # ne)ulatorne01olhrsitse)ulatedn', en.smeo7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ap7i1')soAriaSOMAAT---O.o:: Vie1053 //=o71444546e TT03755465344666134h"1600h"16163 11436T03704526 602164 13401355575411570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777llrainii aick-aria beimeoiAriaReRr8 f#------shouldwork stereal ge"7se)ulatediAria-basedi7i1')sckt3iiih1a" :e o) 77AriaReRr8("Aria") g777tst/r,*h777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ap7i1')soB21RSOMAAT---O.o:: Vie1053 //=o71444546e TT03755465344666134h"16006163./ 11516T03734"164262734"77370516164 1554411570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# Defines SaphiRi1')eea sub-uc=iof aeRr8 steolgErPioneeroRi1')sckllrainii aick-b21roprnct:puckt3iiih1a" :eyAbo) 77B21RRi1')()777tst/r,*h77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ap7i1')soB21RSe)ulatedAAVie VieMMO.o:: Vie1053 //=o71444546e TT0375546534434h"16163. 165516T03734"1642655544"775146520614374364245340t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777#--------designedi steMteWB21R aeRr8(sonar, 2 nap=s,obumpers,olas)ckllrainii aick-playeroprnct:pPlayerReRr8 f-uc=iB21RSe)ulated(PlayerReRr8(S _t)bTfoahurnmtntetacon_#eO, nct:frob(isa"PlayerReRr8.ahurnmtntetacon_#eO, nct:f= joysticte0,set('ick-','type','B21R')= joysticte0,de'.xso()('ptz')= joysticte0,de'.xso()('las')= joysticte0,lasNoisn-_o0.01= joysticte0,de'.xet_las_config(resolutionhe01.0f= joysticte0,sensorSe)'mo{'all': range(180)]. r= rmG_eJo r 'fron' : range(45, 135), . r= rmG_eJo r 'fron-.25H' : range(115, 165), . r= rmG_eJo r 'fron-r*ts' :range (15,65),. r= rmG_eJo r 'fron-all' : range(45, 135),. r= rmG_eJo r '.25H' : range(135,180)]. r= rmG_eJo r 'r*ts' : range(0,45), . r= rmG_eJo r 'btck-.25H' : (), . r= rmG_eJo r 'btck-r*ts' : (), . r= rmG_eJo r 'btck-all' : (), . r= rmG_eJo r 'btck' : ()} = joysticte0,senses['las']nal{}= joysticte0,lasGeometrynalick.Jde'.get_las_geometry(f= joystic# ((0,0, 0)] (154, 154)f= joysticte0,senses['las']['coun']nallambda-de': 180= joysticte0,senses['las']['type']nallambda-te0:'range'= joysticte0,senses['las']['max/f= 00]nalte0,getLasMaxRange= joysticte0,senses['las']['urnms']nallambda-te0:"ROBOTS"= joysticte0,senses['las']['all']nal lte0,getLasRangeAll= joystic= joystic# locationhofosensors' hnms:= joysticte0,senses['las']['x']nallambda-de': te0,lasGeometry[0][0]= joysticte0,senses['las']['y']nallambda-de': te0,lasGeometry[0][1]= joysticte0,senses['las']['z']nallambda-te0, ncs:o0.03= joysticte0,senses['las']['/f= 00]nalte0,getLasRange= joysticte0,senses['las']['flag0]nalte0,getLasFlag= joystic= joystic# locationhofoor*inhofosensors:= joysticte0,senses['las']['ox0]nalte0,las_ox= joysticte0,senses['las']['oy0]nalte0,las_oy= joysticte0,senses['las']['oz']nallambda-te0, ncs:o0.3c# meters= joysticte0,senses['las']['th0]nalte0,las_th= joystic# inhradians:= joysticte0,senses['las']['arc']nallambda-te0, ncs : 1= joystic= joysticte0,senses['range']nalick.Jo'nses['las'] _t)bTfogetLasMaxRangetetaconde' t1 _0 _-1o) 77ick.JrawToUrnms(ue', 8.0ee'.as',o0.0) _t)bTfogetLasRangeAlltetaconde' t1 _0 _-1o) 77[te0,getLasRange(ick.Jde', x)i stex inhrange(180)] _t)bTfogetLasXCoordtetaconde' t1 _0 _-1n(' c _t)bTfogetLasYCoordtetaconde' t1 _0 _-1n(' c _t)bTfogetLasRangetetaconde', ncs t1 _0 _-1o) 77ick.JrawToUrnms(ue', ick.Jde'..as[0][1][ncs]]. r= rmG_eJo r '.as',. r= rmG_eJo r te0,lasNoisn)= joystic= joybTfogetLasFlagtetaconde', ncs t1 _0 _-1n(' c _t)bTfolas_oxtetaconde', ncs t1 _0 _-1n(' c _t)bTfolas_oytetaconde', ncs t1 _0 _-1n(' c _t)bTfolas_thtetaconde', ncs t1 _0 _-1n(' c _t)stic=kt3iiih1a" :eyAbo) 77B21RSe)ulated("B21R",6665)g777tst/r,*h77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ap7i1')soKhep=Se)ulatedAAVie VieMMO.o:: Vie1053 //=o71444546e TT037554651600h"16163 11436T03704526 60203573226524562032615706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# Defines Khep=Ri1')eea sub-uc=iof aeRr8 ffmporjoystick-khep=oprnct:puckt3iiih1a" :eyAbo) 77Khep=Ri1')(ne)ulatorne01) 777tst/r,*h7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ap7i1')soPlayer6665SOMAAT---O.o:: Vie1053 //=o71444546e TT037554653446634h"h"16163 11436T03704526 602765"773625411566615706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777llrainii aick-playeroprnct:pPlayerReRr8 f#------shouldwork stereal ge"7se)ulatediPlayer-basedi7i1')sckt3iiih1a" :e o) 77PlayerReRr8("Player6665", 6665) #, host_#eO="bubbles") g777tst/r,*h77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ap7i1')soPlayer6666SOMAAT---O.o:: Vie1053 //=o71444546e TT037554653446634h"h"16163 11436T03704526 6024157327362541156657515706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777llrainii aick-playeroprnct:pPlayerReRr8 f#------shouldwork stereal ge"7se)ulatediPlayer-basedi7i1')sckt3iiih1a" :e o) 77PlayerReRr8("Player6666", 6666) g777tst/r,*h7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ap7i1')soSaphiMAAVehicle1O.o:: Vie1053 //=o71444546e TT037554653446661334h"16163./ 11516T03734"1642605674"7702622156143647411570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# Defines SaphiRi1')eea sub-uc=iof aeRr8 steolgErPioneeroRi1')sckllrainii aick-saphioprnct:puc#ystickrain ap=roT848he.tooT848Cap=sf-uc=iPioneer2AT(SaphiRi1') :eyAbbTfoahurnmtntetac):c= joysticSaphiRi1').ahurnmtntetacon"Pioneer2AT", 0)= joystic# 0olhrsitaereal aeRr8 #te0, ap=ne0oT848Cap=(new_Cap=Mover())ckt3iiih1a" :eyAbo) 77Pioneer2AT()777tst/r,*h777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ap7i1')soahurnmtnMAAVehicle1O.o:: Vie1053 //=o71444546e TT037554653446661634h"h"16163 11436T03704526 6066607447765623115664251570663t848 = v4lxV4L.0100644276517777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ap7i1')soSOMAAT---O.o:: Vie1053 //=o71444546e TT037554653446666666634h"16163. 165516T03734"16426435614715706102115660551570663t848 = v4lxV4L.010064427651777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777Ri1') Stubckllrainii aick- beimeoiRi1'tckt3iiih1a" :eyAbo) 77Ri1')() 777tst/r,*h777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ap7i1')soHemissonMAAVehicle1O.o:: Vie1053 //=o71444546e TT037554653446661634h"63././ 40516T03734"16426044253612T0365143664551570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# Uses Khep=Ri1')eea sub-uc=iof aeRr8,i steMteWHemisson f#beimeoitermiosffmporjoystick-khep=oprnct:puckt3iiih1a" :eyAb# Fsteseeial connectediHemisson:eyAbo) 77Khep=Ri1')(nct:p_o"pue'/ttyUB0"]. r= rmG_eJo r rrnm alo15266]. r= rmG_eJo r subtypep_o"Hemisson")777tst/r,*h7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ap7i1')soRi1'cupMAAVehicle1O.o:: Vie1053 //=o71444546e TT037554653446661334h"16163./ 11516T03734"164260362573215665661436477515706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# Uses Ri1'cupRi1')eea sub-uc=iof aeRr8 ffmporjoystick-ri1'cup beimeoiuckt3iiih1a" :eyAbo) 77Ri1'cupRi1')()777tst/r,*h77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ap7i1')soRi1'cupTeamAVubsump*m O.o:: Vie1053 //=o71444546e TT037554653446613416163. 165516T03734"16426464353612T036514374211570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# Uses Ri1'cupRi1')eea sub-uc=iof aeRr8 ffmporjoystick-ri1'cup beimeoiuckt3iiih1a" :eyAb# Mhrbaiteamiof 11i7i1')s:eyAblis:p_o[0] * 11eyAb stex inhrange(11 t1 _0 _-1lis:[x]nalRi1'cupRi1')(_#eOp_o"TeamA", goaliOp_o(xtt_o0)f= joy#storeeMteWlis:poneMteWfirs:poneeyAblis:[0].teami=lis:= joy#puteMteWgoaliOpineMteWbox= joylis:[0].set("ue'sensotruth0/pose", (-50, 0)f= joy#o) 77MteWfirs:poneeyAbo) 77lis:[0]777tst/r,*h7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777ap7i1')soRi1'cupTeamBVubsump*m O.o:: Vie1053 //=o71444546e TT037554653446613416163. 165516T03734"16426464353612T0365143742551570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777# Uses Ri1'cupRi1')eea sub-uc=iof aeRr8 ffmporjoystick-ri1'cup beimeoiuckt3iiih1a" :eyAb# Mhrbaiteamiof 11i7i1')s:eyAblis:p_o[0] * 11eyAb stex inhrange(11 t1 _0 _-1lis:[x]nalRi1'cupRi1')(_#eOp_o"TeamB", goaliOp_o(xtt_o0)f= joy#storeeMteWlis:poneMteWfirs:poneeyAblis:[0].teami=lis:= joy#puteMteWgoaliOpineMteWbox= joylis:[0].set("ue'sensotruth0/pose", (-50, 0)f= joy#o) 77MteWfirs:poneeyAbo) 77lis:[0]777tst/r,*h7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apsee'senso77777777777777777777777777777777777777777777777777777777777777777777777777777700411663./ 40436T03704526 666665073572374143504351577777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777770100644276517777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apse)ulatorso777777777777777777777777777777777777777777777777777777777777777777777777777700411663./ 40436T03704526 6666653612T0365143540351577777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777770100644276517777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apse)ulatorsoGazeboSe)ulator777777777777777777777777777777777777777777777777777777777777734h"h"16163 11436T03704526 61562573206313502043615706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777#!/bin/sh f#-A shell scrips leeget gazebo ge"7playerorunning legetherf#-AssumeC_thati steMteW.worldWfileeMtereeiC_ac.world.cfgWfile 7777pid=$1 shif8 fif [ "$1"p_o"-g" ] MteneyAbif [ "$2"p_o"" ] yAbMtene world="-g /usr/local/share/gazebo/worlds/pioneer2dxSonars.world" config="/usr/local/share/player/config/gazebo.cfg"= joyelsee world="-g $2" config=$2.cfgeyAb i elseeyAbif [ "$1"p_o"" ] yAbMtene world="/usr/local/share/gazebo/worlds/pioneer2dxSonars.world" config="/usr/local/share/player/config/gazebo.cfg"== joyelsee world="$1" config=$1.cfgeyAb i i # Sso()'gazebo gazebo $worldW& gpid=$! # Waitaeseci steis leeget xso()ed sleep 1 # NowMaxso()'MteWplayerolayer playero-g t3ia $configW& ppid=$! # wait ste7777 stegazebo leequit whileeps --noheaders $7777pid &&eps --noheaders $gpid; do sleep 1; done > pue'/null # Kill gazebo kill $gpid # Kill player kill $ppid777tst/r,*h77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apse)ulatorsoAriaSe)ulator77777777777777777777777777777777777777777777777777777777777777734h"h"16163 11436T03704526 6222575365544002732251570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777#!/bin/sh f7777pid=$1 shif8 f# OptionhhhhhhhhhhhhhhhD3ia hhhhhhhD3scripsionf# ==================hhh=============hh========================================f# [-p nct:__#eO]hhhhhhh853hhhhhhhhhhhSocket nct:, stefile; /tmp/mySe),i stef# exa)_Dw,if local nct:f# [-ri7i1')_type]hhhhhhP2DXhhhhhhhhhhhD3iines se)ulatedi7i1');esee specificef# d3iinisionspine$ARIA/params/f# [-t nct:_type]hhhhhh TCP Se)ulator connectionhnct:; tcp stelocalf# [-timeoute.1secs]hhhhno limeoute Se)ulator automatically exitC_aftetef# 77iccondiof no connectionf# [-w world_#eO.wld]hhnone Loadae2-D world (.wld)-descripsionWfileef# ActivMediaLab.wld,i steexa)_Dwf# [-s |o-g tor]hhhhhnone Grows/Shrinks'MteWne)ulatornwindow fif [ $# -eq 0 ] MteneyAbworld="office.world" elseeyAbworld="$1" i eximeoiARIA=/usr/local/Aria $ARIA/bin/SRIne) -p $(( 8 6 + $UID )) -w $worldW-t tcp &f# get aria pid7ppid=$! # wait ste7777 leestop whileeps --noheaders $7777pid; do sleep 1; done > pue'/null # Mten kill aria kill $ppid777tst/r,*h7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apse)ulatorsoPlayerServer777777777777777777777777777777777777777777777777777777777777777634h"h"16163 11436T03704526 60531573206666731437767515706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777#!/bin/sh f#-get 7777 pid:f7777pid=$1 shif8 if [ "$1"p_o"-g" ] MteneyAbshif8 i if [ "$1"p_o"" ] MteneyAbworld="/usr/local/77777configs/pioneer.cfg"=elseeyAbworld="$1" i #axso()'player playero$worldW& #-get 7layeropid7ppid=$! # waittill p777 stops whileeps --noheaders $7777pid; do sleep 1; done > pue'/null # Mten kill player kill $ppid7g777tst/r,*h777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apse)ulatorsoSsogeSe)ulator7777777777777777777777777777777777777777777777777777777777777734h"h"16163 11436T03704526 606545732063135020273515706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777#!/bin/sh f7777pid=$1 shif8 fif [ "$1"p_o"-g" ] MteneyAbif [ "$2"p_o"" ] yAbMtene world="-g /usr/local/share/ssoge/worlds/everything.world" yAbelsee world="-g $2" yAb i elseeyAbif [ "$1"p_o"" ] yAbMtene world="/usr/local/share/ssoge/worlds/everything.world" yAbelsee world="$1" yAb i i ssoge -p $(( 56606 + $UID )) $worldW& spid=$! whileeps --noheaders $7777pid; do sleep 1; done > pue'/null # Mten kill se) kill $spid777tst/r,*h7777777777777777777777777777777777777777777777777777777777777777777777777777777777777apse)ulatorsoRi1'cupSe)ulator77777777777777777777777777777777777777777777777777777777777734h"h"16163 11436T03704526 6135253612T036514206415706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777#!/bin/sh f#-A shell scrips leeget MteWri1'cup ne)ulatorngoing.f#--ODO: igure outehow leeuse worldWfile! # itseemC_thatiitis hardcodedii77icrver f7777pid=$1 shif8 fif [ "$1"p_o"-g" ] MteneyAbgraphics=0eyAbshif8 elseeyAbgraphics=1 i world=$1 # Sso()'ri1'cup -sfilee---scrver config, -pfilee---7layeroconfig # Mt---will have-7layeroconfig t3ia lee~./rcssscrver-7layer.conf rcssscrver -sfilee$worldW& spid=$! # Waitaeseci steis leeget xso()ed sleep 1 # NowMaxso()'MteWmonitorfif [ $graphicsne01o] MteneyAbrcssmonitorW& yAbmpid=$! i #await ste7777 stemonitorWleequit whileeps --noheaders $7777pid &&eps --noheaders $mpid; do sleep 1; done > pue'/null # Kill icrver kill $spid7# Kill monitorfif [ $graphicsne01o] MteneyAbkill $mpid i 7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apviewso7777777777777777777777777777777777777777777777777777777777777777777777777777777700411663./ 40436T03704526 666665073572374143436631577777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777770100644276517777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apviewsoFronSOMAAT---O.o:: Vie1053 //=o71444546e TT037554653446666666634h"16163. 165516T03734"164264367510041641455143653615706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777vailllraingui.plr8ene)_Dw beimeoiSe)_DwPlr8ckt3iiih1a"en777e, brainhe00 :eyAbo) 77Se)_DwPlr8(en777e.7i1')ee'fron')777tst/r,*h7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apviewsoAllAAVie VieMMO.o:: Vie1053 //=o71444546e TT037554653444444444444434h"16163. 165516T03734"1642643664 1754665674"1546551570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777vailllraingui.plr8ene)_Dw beimeoiSe)_DwPlr8ckt3iiih1a"en777e, brainhe00 :eyAbo) 77Se)_DwPlr8(en777e.7i1')ee'all' 777tst/r,*h777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apviewsoBackAAVie VieMMO.o:: Vie1053 //=o71444546e TT03755465344444444444434h"16163. 165516T03734"1642643724 1754665674"15613515706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777vailllraingui.plr8ene)_Dw beimeoiSe)_DwPlr8ckt3iiih1a"en777e, brainhe00 :eyAbo) 77Se)_DwPlr8(en777e.7i1')ee'btck-all' 777tst/r,*h7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apviewsoFron_allAAVie VieMMO.o:: Vie1053 //=o71444546e TT037554653444444434h"16163. 165516T03734"1642643735734102611714366315706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777vailllraingui.plr8ene)_Dw beimeoiSe)_DwPlr8ckt3iiih1a"en777e, brainhe00 :eyAbo) 77Se)_DwPlr8(en777e.7i1')ee'fron-all' 777tst/r,*h777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apviewsoLefSOMAAT---O.o:: Vie1053 //=o71444546e TT0375546534466666666434h"16163. 165516T03734"1642643664 1754665674"156515706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777vailllraingui.plr8ene)_Dw beimeoiSe)_DwPlr8ckt3iiih1a"en777e, brainhe00 :eyAbo) 77Se)_DwPlr8(en777e.7i1')ee'.25H' 777tst/r,*h77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apviewsoR*tsSOMAAT---O.o:: Vie1053 //=o71444546e TT037554653446666666634h"16163. 165516T03734"1642643675 1754665674"160311570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777vailllraingui.plr8ene)_Dw beimeoiSe)_DwPlr8ckt3iiih1a"en777e, brainhe00 :eyAbo) 77Se)_DwPlr8(en777e.7i1')ee'r*ts' 777tst/r,*h7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apviewsoahurnmtnMAAVehicle1O.o:: Vie1053 //=o71444546e TT0375546534466616634h"16163. 165516T03734"164264066071754665674"165015706640t848 = v4lxV4L.0100644276517777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apworlds/7777777777777777777777777777777777777777777777777777777777777777777777777777777700411663./ 40436T03704526 666665360241151143451031577777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777770100644276517777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apworlds/Aria/77777777777777777777777777777777777777777777777777777777777777777777777777700411663./ 40436T03704526 666665073572374143540631577777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777770100644276517777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apworlds/Aria/ActivMediaLab.world7777777777777777777777777777777777777777777777777777777734h"16163. 165516T03734"1642113210717636321502132251570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777width 12640 he*ts 5759 Or*inPad 12630 5757 Sso()'Goal 11390 4334 "Chris" End Sso()'Goal 1035 3002 "Webpion" End Sso()'L77e 1820 1239 1820 3719 AttachID 2eyAb1820 1239 1820 3719 End Sso()'Goal 9132 4394 "Matt" End Sso()'L77e 6432 5619 6982 5619 AttachID 4eyAb6432 5619 6982 5619 End Sso()'L77e 7932 4369 7932 4919 AttachID 5eyAb7932 4369 7932 4919 End Sso()'L77e 11732 1749 11732 859 AttachID 6eyAb11732 1749 11732 859 End Sso()'Goal 6652 4354 "Servers" End Sso()'L77e 0 3489 0 2599 AttachID 8eyAb0 3489 0 2599 End Sso()'L77e 10 2599 250 2599 AttachID 9eyAb10 2599 250 2599 End Sso()'L77e 10182 32 10182 360 AttachID 10eyAb10182 32 10182 360 End Sso()'L77e 12070 5759 12090 5759 AttachID 11eyAb12070 5759 12090 5759 End Sso()'L77e 10132 360 10172 360 AttachID 12eyAb10132 360 10172 360 End Sso()'L77e 560 1869 790 1869 AttachID 13= jo560 1869 790 1869 End Sso()'L77e 7942 4369 84h" 4369 AttachID 14eyAb7942 4369 84h" 4369 End Sso()'L77e 12090 4969 12090 5759 AttachID 15eyAb12090 4969 12090 5759 End posision 7760 175 0 Sso()'L77e 6332 5019 6432 5019 AttachID 17eyAb6332 5019 6432 5019 End Sso()'L77e 6332 5019 6332 4909 AttachID 18eyAb6332 5019 6332 4909 End Sso()'L77e 1820 1244 8090 1244 AttachID 19eyAb1820 1244 8090 1244 End Sso()'L77e 790 2399 790 1869 AttachID 20eyAb790 2399 790 1869 End Sso()'L77e 7602 4919 7602 5019 AttachID 21eyAb7602 4919 7602 5019 End Sso()'L77e 550 3359 787 3359 AttachID 22eyAb550 3359 787 3359 End Sso()'L77e 8090 2259 8090 1259 AttachID 23= jo8090 2259 8090 1259 End Sso()'L77e 6982 5019 7592 5019 AttachID 24eyAb6982 5019 7592 5019 End Sso()'L77e 10132 370 10132 80 AttachID 25eyAb10132 370 10132 80 End Sso()'L77e 8760 70 10140 70 AttachID 26eyAb8760 70 10140 70 End Sso()'L77e 8102 4919 5360 4919 AttachID 27eyAb8102 4919 5360 4919 End Sso()'L77e 8102 4909 84h" 4369 AttachID 28eyAb8102 4909 84h" 4369 End Sso()'L77e 275 0b87h" 0 AttachID 29eyAb275 0b87h" 0 End Sso()'L77e 12540 3409 12640 3409 AttachID 30eyAb12540 3409 12640 3409 End Sso()'L77e 10192 32 11620 10 AttachID 31eyAb10192 32 11620 10 End Sso()'L77e 6432 5619 6432 5019 AttachID 32eyAb6432 5619 6432 5019 End Sso()'L77e 452 3619 452 3489 AttachID 33= jo452 3619 452 3489 End Sso()'L77e 10790 5749 10790 4999 AttachID 34eyAb10790 5749 10790 4999 End Sso()'L77e 442 3619 1212 3619 AttachID 35eyAb442 3619 1212 3619 End Sso()'L77e 807 3509 807 3049 AttachID 36eyAb807 3509 807 3049 End Sso()'Chair 845 355 8 70 335 382 -0.718830eyAb1246 703b1243 4eyAb1243 4b444 7eyAb444 7b447 706eyAb447 706b1246 703 End Sso()'L77e 11620 869 11620 9 AttachID 38eyAb11620 869 11620 9 End Sso()'L77e 8000 2259 8090 2259 AttachID 39eyAb8000 2259 8090 2259 End Sso()'L77e 10 3489 452 3489 AttachID 40eyAb10 3489 452 3489 End Sso()'L77e 11610 2029 11610 1739 AttachID 41eyAb11610 2029 11610 1739 End Sso()'L77e 11620 1749 11732 1749 AttachID 42eyAb11620 1749 11732 1749 End Sso()'L77e 870 350 875 350 AttachID 43= jo870 350 875 350 End Sso()'L77e 12090 4969 12525 4969 AttachID 44eyAb12090 4969 12525 4969 End Sso()'L77e 12540 4954 12540 3394 AttachID 45eyAb12540 4954 12540 3394 End Sso()'L77e 10120 4999 10790 4999 AttachID 46eyAb10120 4999 10790 4999 End Sso()'L77e 7612 4919 7932 4919 AttachID 47eyAb7612 4919 7932 4919 End Sso()'L77e 5492 4909 6332 4909 AttachID 48eyAb5492 4909 6332 4909 End Sso()'L77e 798 3049 807 3049 AttachID 49eyAb798 3049 807 3049 End Sso()'L77e 5492 4899 5492 3369 AttachID 50eyAb5492 4899 5492 3369 End Sso()'L77e 260 1319 260 14 AttachID 51eyAb260 1319 260 14 End Sso()'L77e 11610 2020 12610 2020 AttachID 52eyAb11610 2020 12610 2020 End Sso()'L77e 12610 2020 12610 3380 AttachID 53eyAb12610 2020 12610 3380 End Sso()'L77e 270 2399 770 2399 AttachID 54eyAb270 2399 770 2399 End Sso()'L77e 6982 5019 6982 5619 AttachID 55eyAb6982 5019 6982 5619 End Sso()'L77e 1212 3719 1830 3719 AttachID 56eyAb1212 3719 1830 3719 End Sso()'L77e 788 3349 788 3509 AttachID 57eyAb788 3349 788 3509 End Sso()'L77e 270 1319 550 1319 AttachID 58eyAb270 1319 550 1319 End Sso()'L77e 560 1859 560 1329 AttachID 59= jo560 1859 560 1329 End Sso()'L77e 11620 869 11732 869 AttachID 60eyAb11620 869 11732 869 End Sso()'L77e 10120 4999 10360 4919 AttachID 61eyAb10120 4999 10360 4919 End Sso()'L77e 875 70 875 340 AttachID 62= jo875 70 875 340 End Sso()'L77e 10790 5759 12090 5759 AttachID 63eyAb10790 5759 12090 5759 End Sso()'L77e 870 350 8700 10 AttachID 64= jo870 350 8700 10 End Sso()'L77e 799 3049 799 2259 AttachID 65eyAb799 3049 799 2259 End Sso()'L77e 260 2589 260 2399 AttachID 66eyAb260 2589 260 2399 End Sso()'L77e 1212 3719 1212 3619 AttachID 67eyAb1212 3719 1212 3619 End Sso()'L77e 790 3509 806 3509 AttachID 68eyAb790 3509 806 3509 End Sso()'Chair 8332 1862 400 560 260 202 -0.915103= jo8510 2122o8510 1602= jo8510 1602 8410 1602= jo8110 1602 8410 2122= jo8110 2122o8510 2122=End 77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apworlds/Aria/jeanne.world77777777777777777777777777777777777777777777777777777777777777734h"16163. 165516T03734"164212574071763632150177315706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777width 12055ehe*ts 21035 Or*inPad 0 0 Sso()'Text 7035 12216 "barrier" End Sso()'L77e 1655 1635 11935 1635 AttachID 1eyAb7655 1635 11935 1635 End Sso()'L77e 10790 2942 10790 2540 AttachID 2eyAb10790 2942 10790 2540 End Sso()'L77e 11670 842 11850 940 AttachID 3eyAb11670 842 11850 940 End Sso()'L77e 108 2540 11430 2540 AttachID 4eyAb108 2540 11430 2540 End Sso()'L77e 10810 610 10970 660 AttachID 5eyAb10810 610 10970 660 End Sso()'L77e 10640 3505 11965 3505 AttachID 6eyAb10640 3505 11965 3505 End Sso()'L77e 6195 1239 7315 1239 AttachID 7eyAb6195 1239 7315 1239 End Sso()'L77e 10790 2942 11430 2940 AttachID 8eyAb10790 2942 11430 2940 End Sso()'L77e 103 720 10770 780 AttachID 9eyAb103 720 10770 780 End Sso()'L77e 11020 4860 11020 5060 AttachID 10eyAb11020 4860 11020 5060 End Sso()'L77e 11962 1740 11970 1750 AttachID 11eyAb11962 1740 11970 1750 End Sso()'L77e 10 70 12732 70 AttachID 12eyAb10 70 12732 70 End Sso()'L77e 0 70 0 130 AttachID 13eyAb0 70 0 130 End Sso()'L77e 8360 1208 888 1208 AttachID 14eyAb8360 1208 888 1208 End Sso()'L77e 886 2540 886 8 AttachID 15eyAb886 2540 886 8 End Sso()'L77e 8395 1425 886 1425 AttachID 16eyAb8395 1425 886 1425 End Sso()'L77e 11020 5060b11680 5060 AttachID 17eyAb11020 5060b11680 5060 End posision 9825 5666 90 Sso()'L77e 10 172 40 10 AttachID 19eyAb10 172 40 10 End Sso()'L77e 1530 10935 1530 1635 AttachID 20eyAb7530 10935 1530 1635 End Sso()'L77e 11442 2932 11442 2550 AttachID 21eyAb11442 2932 11442 2550 End Sso()'L77e 1147 395 1200 395 AttachID 22eyAb1147 395 1200 395 End Sso()'L77e 1065 3182 3199 3180 AttachID 23eyAb1065 3182 3199 3180 End Sso()'L77e 8880 1208 888 12640 AttachID 24eyAb8880 1208 888 12640 End Sso()'L77e 10360 7505 10360 6885 AttachID 25eyAb10360 7505 10360 6885 End Sso()'L77e 11940 890 11940 1730 AttachID 26eyAb11940 890 11940 1730 End Sso()'L77e 1090 299 1090 1160 AttachID 27eyAb7090 299 1090 1160 End Sso()'L77e 11040 488 11680 488 AttachID 28eyAb11040 488 11680 488 End Sso()'L77e 6132 1533 6132 3218 AttachID 29eyAb6132 1533 6132 3218 End Sso()'L77e 12035 1525 52035 35400 AttachID 30eyAb12035 1525 52035 35400 End Sso()'L77e 10920 12740 10920 12640 AttachID 31eyAb10920 12740 10920 12640 End Sso()'L77e 1000 12760 1000 12640 AttachID 32eyAb1000 12760 1000 12640 End Sso()'L77e 10915 12655 12055 12655 AttachID 33= jo10915 12655 12055 12655 End Sso()'L77e 10370 6880 10850 688 AttachID 34eyAb10370 6880 10850 688 End Sso()'L77e 10452 3140 10452 2360 AttachID 35eyAb10452 3140 10452 2360 End Sso()'L77e 0 60 " 0 AttachID 36eyAb0 60 " 0 End Sso()'L77e 8385 1962 8850 1962 AttachID 37eyAb8385 1962 8850 1962 End Sso()'L77e 2560 21035 12005 21035 AttachID 38eyAb2560 21035 12005 21035 End Sso()'L77e 1320 12390 1320 14835 AttachID 39eyAb7320 12390 1320 14835 End Sso()'L77e 12040 15365 12040 20930 AttachID 40eyAb12040 15365 12040 20930 End Sso()'L77e 8332 14770 8332 21035 AttachID 41eyAb8332 14770 8332 21035 End Sso()'L77e 8855 0b9172 0 AttachID 42= jo8855 0b9172 0 End Sso()'L77e 11972 1740 11970 329 AttachID 43eyAb11972 1740 11970 329 End Sso()'L77e 1187 95 11920 88 AttachID 44eyAb1187 95 11920 88 End Sso()'L77e 11680 508 11680 4900 AttachID 45eyAb11680 508 11680 4900 End Sso()'L77e 1430 7510 12732 7510 AttachID 46eyAb1430 7510 12732 7510 End Sso()'L77e 1425 51000 7578 51141eAttachID 47eyAb7425 51000 7578 51141eEnd Sso()'L77e 8925 12655 10035 12655 AttachID 48eyAb8925 12655 10035 12655 End Sso()'L77e 1575 51115 1635 11025 AttachID 49eyAb7575 51115 1635 11025 End Sso()'L77e 6162 210 6162 3310 AttachID 50eyAb6162 210 6162 3310 End Sso()'L77e 11662 820 11770 640 AttachID 51eyAb11662 820 11770 640 End Sso()'L77e 11110 332 11462 470 AttachID 52eyAb11110 332 11462 470 End Sso()'L77e 6125 1520 6125 1103 AttachID 53eyAb6125 1520 6125 1103 End Sso()'L77e 103 720 10332 560 AttachID 54eyAb103 720 10332 560 End Sso()'L77e 9770 570 10320 570 AttachID 55eyAb9770 570 10320 570 End Sso()'L77e 10770 770 10810 610 AttachID 56eyAb10770 770 10810 610 End Sso()'L77e 1090 1295 1090 5 AttachID 57eyAb7090 1295 1090 5 End Sso()'L77e 10640 3505 10640 350 AttachID 58eyAb10640 3505 10640 350 End Sso()'L77e 8380 1950 8380 1420 AttachID 59eyAb8380 1950 8380 1420 End Sso()'L77e 6162 3000 7082 3000 AttachID 60eyAb6162 3000 7082 3000 End Sso()'L77e 10990 172 1110 330 AttachID 61eyAb10990 172 1110 330 End Sso()'L77e 8340 1210 8340 14820 AttachID 62= jo8340 1210 8340 14820 End Sso()'L77e 9770 7 9770 570 AttachID 63eyAb9770 7 9770 570 End Sso()'L77e 10035 12740 10920 12740 AttachID 64eyAb10035 12740 10920 12740 End Sso()'L77e 1432 7510 1432 10990 AttachID 65eyAb7432 7510 1432 10990 End Sso()'L77e 10640 3182 32640 3510 AttachID 66eyAb10640 3182 32640 3510 End Sso()'L77e 0 12070 0 145 AttachID 67eyAb0 12070 0 145 End Sso()'L77e 1530 10922 7555 10920 AttachID 68eyAb7530 10922 7555 10920 End Sso()'L77e 1555 10920 1635 11010 AttachID 69eyAb7555 10920 1635 11010 End Sso()'L77e 10452 3140 11950 3140 AttachID 70eyAb10452 3140 11950 3140 End Sso()'L77e 1147 395 1147 3540 AttachID 71eyAb1147 395 1147 3540 End Sso()'L77e 11492 490 11980 500 AttachID 72eyAb11492 490 11980 500 End Sso()'L77e 8855 2550b9172 2550 AttachID 73= jo8855 2550b9172 2550 End Sso()'L77e 10850 6850 10850 7500 AttachID 74eyAb10850 6850 10850 7500 End Sso()'L77e 1200 326 1200 7500 AttachID 75eyAb1200 326 1200 7500 End Sso()'L77e 9190 7 9192 2550 AttachID 76eyAb9190 7 9192 2550 End Sso()'L77e 6125 10920 6125 1239 AttachID 77eyAb6125 10920 6125 1239 End 77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apworlds/Aria/office.world77777777777777777777777777777777777777777777777777777777777777734h"16163. 165516T03734"164217156071763632150177211570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777width 18815ehe*ts 14000 Or*inPad 50 -25 posision 1000 1498 0 Sso()'L77e 16400 1000 18000 1000 AttachID 1eyAb16400 1000 18000 1000 End Sso()'L77e 14202 2000 142h" 0 AttachID 2eyAb14202 2000 142h" 0 End Sso()'L77e 14600 1000 14600 400 AttachID 3eyAb14600 1000 14600 400 End Sso()'L77e 16400 1000 16400 700 AttachID 4eyAb16400 1000 16400 700 End Sso()'L77e 17025 190 18725 190 AttachID 5eyAb17025 190 18725 190 End Sso()'L77e 1850 2775 5850 1975 AttachID 6eyAb1850 2775 5850 1975 End Sso()'L77e 1190 1300 1230 1300 AttachID 7eyAb1190 1300 1230 1300 End Sso()'L77e 0 675 2050 675 AttachID 8eyAb0 675 2050 675 End Sso()'L77e 8900 1210 890 1300 AttachID 9eyAb8900 1210 890 1300 End Sso()'L77e 18172 1400 18672 0 AttachID 10eyAb18172 1400 18672 0 End Sso()'L77e 0 1400 18000 1400 AttachID 11eyAb0 1400 18000 1400 End Sso()'L77e 0 12002 3000 12002 AttachID 12eyAb0 12002 3000 12002 End Sso()'L77e 10025 2000 10250 2002 AttachID 13= jo10025 2000 10250 2002 End Sso()'L77e 14400 190 14500 1000 AttachID 14eyAb14400 190 14500 1000 End Sso()'L77e 7960 4962 8200 4962 AttachID 15eyAb7960 4962 8200 4962 End Sso()'L77e 1000 12100 12002 12100 AttachID 16eyAb1000 12100 12002 12100 End Sso()'L77e 0 0 0 1400 AttachID 17eyAb0 0 0 1400 End Sso()'L77e 1200 1200 1200 12100 AttachID 18eyAb1200 1200 1200 12100 End Sso()'L77e 0 1 18000 10 AttachID 19eyAb0 1 18000 10 End Sso()'L77e 8200 4962 8200 9800 AttachID 20eyAb8200 4962 8200 9800 End Sso()'L77e 410 1300 42h" 12100 AttachID 21eyAb410 1300 42h" 12100 End Sso()'L77e 200 625 2000 75 AttachID 22eyAb200 625 2000 75 End Sso()'L77e 16400 400 18000 400 AttachID 23eyAb16400 400 18000 400 End Sso()'L77e 18000 1000 18760 1000 AttachID 24eyAb18000 1000 18760 1000 End Sso()'L77e 1000 12000 1000 12100 AttachID 25eyAb1000 12000 1000 12100 End Sso()'L77e 10250 975 50250 2002 AttachID 26eyAb10250 975 50250 2002 End Sso()'L77e 800 12000 800 12100 AttachID 27eyAb800 12000 800 12100 End Sso()'L77e 5100 12002 5100 12100 AttachID 28eyAb5100 12002 5100 12100 End Sso()'L77e 4200 12002 42h" 12100 AttachID 29eyAb4200 12002 42h" 12100 End Sso()'L77e 3900 12002 39h" 12100 AttachID 30eyAb3900 12002 39h" 12100 End Sso()'L77e 7960 9800 8200 9800 AttachID 31eyAb7960 9800 8200 9800 End Sso()'L77e 15302 2000 18000 200 AttachID 32eyAb15302 2000 18000 200 End Sso()'L77e 3102 491 3200 4962 AttachID 33= jo3102 491 3200 4962 End Sso()'L77e 15302 190 17002 190 AttachID 34eyAb15302 190 17002 190 End Sso()'L77e 2800 11975 3050 11975 AttachID 35eyAb2800 11975 3050 11975 End Sso()'L77e 8900 12002 9200 12002 AttachID 36eyAb8900 12002 9200 12002 End Sso()'L77e 2800 12475 2800 11975 AttachID 37eyAb2800 12475 2800 11975 End Sso()'L77e 2800 12475 3050 12475 AttachID 38eyAb2800 12475 3050 12475 End Sso()'L77e 12500 10000b14600 1000 AttachID 39eyAb12500 10000b14600 1000 End Sso()'L77e 3900 12002 4200 12002 AttachID 40eyAb3900 12002 4200 12002 End Sso()'L77e 11600 9800 11600 1000 AttachID 41eyAb11600 9800 11600 1000 End Sso()'L77e 92h" 12100 1000 12100 AttachID 42= jo92h" 12100 1000 12100 End Sso()'L77e 10025 2000 10025 975 AttachID 43= jo10025 2000 10025 975 End Sso()'L77e 14600 12000b14600 1400 AttachID 44eyAb14600 12000b14600 1400 End Sso()'L77e 10025 975 50250 975 AttachID 45= jo10025 975 50250 975 End Sso()'L77e 17990 1400 18672 1400 AttachID 46eyAb17990 1400 18672 1400 End Sso()'L77e 1200 12100 1230 1300 AttachID 47eyAb1200 12100 1230 1300 End Sso()'L77e 3200 4962 3200 9762 AttachID 48eyAb3200 4962 3200 9762 End Sso()'L77e 3000 9762 3200 9762 AttachID 49eyAb3000 9762 3200 9762 End Sso()'L77e 5100 12002 800 12000 AttachID 50eyAb5100 12002 800 12000 End Sso()'L77e 1900 1975 2000 1975 AttachID 51eyAb1900 1975 2000 1975 End Sso()'L77e 50 2975 2050 2975 AttachID 52eyAb50 2975 2050 2975 End Sso()'L77e 50 2775 5850 2775 AttachID 53eyAb50 2775 5850 2775 End Sso()'L77e 17975 0b187h" 0 AttachID 54eyAb17975 0b187h" 0 End Sso()'L77e 1280 12100 14600 12100 AttachID 55eyAb1280 12100 14600 12100 End Sso()'L77e 15302 190 15302 2000 AttachID 56eyAb15302 190 15302 2000 End Sso()'L77e 3050 11975 3050 12475 AttachID 57eyAb3050 11975 3050 12475 End Sso()'Goal 5492 7082 "Cube 2" End Sso()'L77e 14400 190 14402 2000 AttachID 59eyAb14400 190 14402 2000 End Sso()'L77e 1000 4000b14600 400 AttachID 60eyAb1000 4000b14600 400 End Sso()'L77e 18042 2000 18762 2000 AttachID 61eyAb18042 2000 18762 2000 End Sso()'L77e 400 12000 4000b14000 AttachID 62eyAb400 12000 4000b14000 End Sso()'L77e 650 12000 650 14000 AttachID 63eyAb650 12000 650 14000 End Sso()'L77e 900 12000 9000b14000 AttachID 64eyAb900 12000 9000b14000 End Sso()'L77e 1280 1200 1280 12100 AttachID 65eyAb1280 1200 1280 12100 End Sso()'L77e 0 1000 11600 1000 AttachID 66eyAb0 1000 11600 1000 End Sso()'Text 17332 13199 "refrig" End Sso()'L77e 3000 12002 3000 12100 AttachID 68eyAb3000 12002 3000 12100 End Sso()'L77e 0 9800 11600 9800 AttachID 69eyAb0 9800 11600 9800 End Sso()'L77e 200 2025 2000 2975 AttachID 70eyAb200 2025 2000 2975 End Sso()'L77e 3900 12102 42h" 12100 AttachID 71eyAb3900 12102 42h" 12100 End Sso()'L77e 8900 1210 92h" 12100 AttachID 72eyAb8900 1210 92h" 12100 End Sso()'L77e 5100 12100 800 12100 AttachID 73= jo5100 12100 800 12100 End Sso()'L77e 1000 12000 12000 12000 AttachID 74eyAb1000 12000 12000 12000 End Sso()'L77e 1280 1200 14600 12000 AttachID 75eyAb1280 1200 14600 12000 End Sso()'L77e 8900 12002 89h" 12100 AttachID 76eyAb8900 12002 89h" 12100 End Sso()'L77e 9200 12002 92h" 12100 AttachID 77= jo92h" 1200 92h" 12100 End Sso()'L77e 12500 9800 14600 9800 AttachID 78eyAb12500 9800 14600 9800 End Sso()'L77e 3000 9762 3000 4962 AttachID 79eyAb3000 9762 3000 4962 End Sso()'L77e 17960 400 18720 4000 AttachID 80eyAb17960 400 18720 4000 End Sso()'L77e 10052 2000 14450 2002 AttachID 81eyAb10052 2000 14450 2002 End Sso()'Goal 110 6982 "Cube 1" End Sso()'L77e 14200 190 14402 190 AttachID 83eyAb14202 190 14402 190 End Sso()'L77e 12500 9800 12500 10000 AttachID 84eyAb12500 9800 12500 10000 End Sso()'L77e 7960 9800 7960 4962 AttachID 85eyAb7960 9800 7960 4962 End Sso()'Chair 11340 6861b3920 1120 560 1960 -0.278300eyAb133 7421b133 6303= jo133 6303 9380 6303= jo9380 6303o9380 7421= jo9380 7421b133 7421=End Sso()'Goal 1666 12741 "food" End Sso()'L77e 17302 12782 58525 12782 AttachID 88eyAb17302 12782 58525 12782 End Sso()'L77e 18525 12782 18525 13867 AttachID 89eyAb18525 12782 18525 13867 End Sso()'L77e 17302 13867 18525 13867 AttachID 90eyAb17302 13867 18525 13867 End Sso()'L77e 17302 13867 17302 12782 AttachID 91eyAb17302 13867 17302 12782 End Sso()'L77e 1190 12000 1190 14000 AttachID 92eyAb1190 12000 1190 14000 End Sso()'L77e 16490 9813 16535 9948 AttachID 93eyAb16490 9813 16535 9948 End Sso()'Goal 12125 169 "Closet" End Sso()'Goal 7850 13369 "John" End Sso()'L77e 16535 9948 16535 7023 AttachID 96eyAb16535 9948 16535 7023 End Sso()'Goal 16535 634 "Henry" End Sso()'Goal 10235 13369 "Matt" End Sso()'L77e 16445 6978 16535 6978 AttachID 99eyAb16445 6978 16535 6978 End Sso()'Goal 13475 13414 "Bill" End Sso()'L77e 16535 6978 16535 7023 AttachID 103= jo16535 6978 16535 7023 End Sso()'L77e 16400 4008 16400 6168 AttachID 102eyAb16400 4008 16400 6168 End Sso()'Goal 1685 13325 "Jeanne" End Sso()'Text 202 724 "Amigo'Charger" End Sso()'Goal 5285 13326 "Chris" End Sso()'Goal 11450 5541 "Conference" End Sso()'L77e 18605 9813 18650 9768 AttachID 107eyAb18105 9813 18650 9768 End Sso()'L77e 18605 9813 18650 9858 AttachID 108eyAb18105 9813 18650 9858 End Sso()'L77e 16445 6123 16445 6168 AttachID 109eyAb16445 6123 16445 6168 End Sso()'L77e 16535 6168 16535 4008 AttachID 110= jo16535 6168 16535 4008 End Sso()'L77e 16535 4008 16535 4053 AttachID 113= jo16535 4008 16535 4053 End Sso()'Goal 17390 6574 "Pat" End 77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apworlds/Aria/tutorial.world777777777777777777777777777777777777777777777777777777777777734h"16163. 165516T03734"164264476077026207371420333515706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777; The worldWdimensions width 5000 he*ts 5000 ; Thw worldWboundary 0 0 0 5000 0 0 5000 0 5000 0 5000 5000 0 5000 5000 5000 ; The corner wall 2 4250 750 4250 750 5000 750 4250 ; The smaller room 2500 2 250 2250 250 2250 350 2250 ; The 7i1')'saxso()ing locasion and orientasion (x, y,'Mteta) posision 2000 1250 0 7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apworlds/Gazebo/777777777777777777777777777777777777777777777777777777777777777777777777700411663./ 40436T03704526 666665303440602143572231577777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777770100644276517777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apworlds/Gazebo/clodber.world.cfg7777777777777777777777777777777777777777777777777777734h"16163. 165516T03734"164264071530137447402170551570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777 posision:0 (= jdriver "gz_posision"= jgz_id "7i1')1" ) 777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apworlds/Gazebo/exa)_Dw1.world.cfg777777777777777777777777777777777777777777777777777777734h"16163. 165516T03734"16426440153013744740212515706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777posision:0 (= jdriver "gz_posision"= jgz_id "7i1')1" ) sonar:0 (= jdriver "gz_sonars"= jgz_id "sonars1" ) laser:0 (= jdriver "gz_laser"= jgz_id "laser1" ) ptz:0 (= jdriver "gz_ptz"= jgz_id "camera1" ) camera:0 (= jdriver "gz_camera"= jgz_id "camera1" ) 77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apworlds/Gazebo/ahoward.jpg7777777777777777777777777777777777777777777777777777777777777734h"16163. 165516T03734"16426527410057772742142030315706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777JFIFHHC    $.' ",#(7),01444'9=82<.342C  2!!22222222222222222222222222222222222222222222222222fS> !1"AQqa#2Rcrs3BCST77777777777$7777777!1AQ2a"q ?үL n1Vp]ʊI~Zux=>&~sT~!?J.2W̚_MQG}>]H]y_cC&g| 7;>t>f\[p#Z|s5\@q.|i)g6+CdL en~4Kh┸B}<ώ ^ ~ARqR E'#3Unc*S"g bɯj.%<ɗ9| J..] 3 ( z. 4@6b<” Q|٭oa{Eg9m.YَIcY7ҥHUlH tm-By]rc~&A^4 &);6XY0d e>E DǭUmt ]5?iXk[Y&\`Hɵ;#ۖ KNWKi1Vsi;f|3UShB1W\QqRTx:27CWL+A&OY{zՉƛk퐍@O7?|)th׀M?D.#6vm,<Ƹa[u\i2C`fδWpPA$ɚS4]©$j\(9yJrOJI|[j6X]J r>[8>EMɶRS0Ț(iGbit:is9fZiWR;X#0|+is̰ミ|)DմXO>x+,{20Erߧmo ѬW%]FA\ʥ&4>ɣʏt(EiUOa4TMu@R]i:I9I6n} 0C] $kAXb>4`#8F'/}[M t{QͼI [SNh{G]2taI|Zuw엻-WA`YLQ Oj_O^n|*\jMe(Hďs]=6?m=\5%ݤרRkc : WVؔNVw]$Qf5!d|(_6?[M`ӥQCSOi*cvWhL7L:r;X[c}5x^,SɭE1(U| Wrx:>džS!++Y5PI̦؟xFK1ȮbJެ1*pW'9b%PnBw_sOΎt+'Ǖ?љN e)e✸@+FYb>8U9~ƞͤq,A7gy !F̳i=&!#sv,, ҁOo8zC{[>Gv 8vH A?x)yf6 '??0\yvIYM̰ãoΏ [ i0-Gx+;77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apworlds/Gazebo/clodber.world77777777777777777777777777777777777777777777777777777777734h"16163. 165516T03734"16426240410057772742142116315706640t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777 = jo 0.0 0.0 -9.8 = = jo userCam0= jo 0.002 -0.869 0.719= jo 0 41 84= jo .100= jo = jo o Gazebo1= jo o 640 480= jo o 0 0= jo = j= = jo l*ts1= jo 0b0 1= j= = jo ground1= jo 1 1 1= jo grass.jpg= j= = jo map1= jo 1 1 0= jo exa)_Dw2.png= jo 200= jo 0.1= jo 2.0= jo 0.1= jo 0.0 1.0 0.0= j= = jo 7i1')1= jo 0b0 0.20= jo 0 0 45= j= 77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apworlds/Gazebo/exa)_Dw1.world7777777777777777777777777777777777777777777777777777777777734h"16163. 165516T03734"1642633715057772742142053551570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777 = jo 0.0 0.0 -9.8 = = jo userCam0= jo -0.506 0.894 0.865= jo 0 26 -23= jo .10= jo = jo o SharedWindow1= jo o 640 480= jo = j= = jo l*ts1= jo 0.0 10.0 100.0= j= = jo ground1= jo 0 1 0= jo grid.ppm= j= = jo map1= jo 0b0 0= jo exa)_Dw2.png = jo 200= jo 0.1= jo 1= jo 0.1= jo 5= jo 0.5 0.5 0.5= j= = jo 7i1')1= jo 0.0 0.0 0.5= jo = jo o laser1= jo o 0.15b0 0.20= jo o = jo o o camera1= jo o o 0b0 .1= jo o o 0 0 0= jo jo .3= jo jo = jo o o o PioneerCam= jo o o o 320 200= jo o o = jo o = jo = j= 7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777apworlds/Gazebo/exa)_Dw2.png777777777777777777777777777777777777777777777777777777777777734h"16163. 165516T03734"1642647345303440602142015251570663t848 = v4lxV4L.01006442765177777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777PNG  777 IHDR7777V777 pHYs777H777H7Fk>77 NIDATx1EFa;16  S$`j_wWoso݃aoyG$IҮz)e@Fd@Fd@Fߙ- }g职职职g~ڭˇWO]Ϟ^=En3׹ec˄oM3bgy?~pzV_GoYgev޳K|p5'?>w0>y)Fo:9k~oNk^7Ư2~8y)?;'|Go}rIR>b\.k^%ˌ~6/cz, K~/7/ z}4/#z>ODgd]R>_?/Xۼ 2\߮-}wG~~sFK~sF-O9_p|H繻M;n}Uky|Mw0kn<~վ}kGqv}kGv}מךsc_>_UkP}kчv}k} 틎~} 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